Omron R88M-K User Manual

9 Details on Servo Parameter Objects
9-50
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
• Set the compensation gain for the disturbance torque.
• Refer to 11-8 Disturbance Observer Function on page 11-26.
• Set the filter time constant for disturbance torque compensation.
• Refer to 11-8 Disturbance Observer Function on page 11-26.
• Set the speed to estimate the load characteristic while the realtime autotuning is enabled.
• The higher the set value is, the earlier the load characteristic change is followed, but the estimated
variation against the disturbance becomes greater.
• The estimated results is updated in every 30 minutes and saved in EEPEOM.
• Refer to 11-3 Realtime Autotuning on page 11-7.
Explanation of Set Values
3623 hex
Disturbance Torque Compensation Gain
Setting range −100 to 100 Unit % Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3624 hex
Disturbance Observer Filter Setting
Setting range 10 to 2500 Unit 0.01 ms Default setting 53 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3631 hex
Realtime Autotuning Estimated Speed Selection
Setting range 0 to 3 Unit − Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
Set value Mode Description
0 No change Stops load estimation.
1 Little change Estimates every minute from the load characteristic changes.
2 Gradual change Estimates every second from the load characteristic changes.
3 Sharp change Estimates the optimum from the load characteristic changes.
csp (semi) pp (semi) hm (semi) csv
csp (semi) pp (semi) hm (semi) csv
All

Omron R88M-K Specifications

General

Brand	Omron
Model	R88M-K
Category	Controller
Language	English