Omron R88M-K - Page 487

11-13
11 Adjustment Functions
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-3 Realtime Autotuning
11
11-3-3 Setting Machine Rigidity
*2 If realtime autotuning is performed in vertical axis mode or friction compensation and vertical axis mode, the
value will be 9999 until load characteristic estimation (estimation of the inertia ratio, torque command value off-
set, and forward/reverse direction torque offset) is completed. The value will change to 10000 after the load
characteristic estimation is completed.
*1 This is limited to a minimum value of 10 if a 17-bit absolute encoder is used.
Index Name
AT Machine Rigidity Setting (3003 hex)
24 25 26 27 28 29 30 31
3004 hex Inertia Ratio Estimated load inertia ratio
3100 hex Position Loop Gain 1 4490 5000 5600 6100 6600 7200 8100 9000
3101 hex Speed Loop Gain 1 2500 2800 3100 3400 3700 4000 4500 5000
3102 hex Speed Loop Integral Time
Constant 1
40 35 30 30 25 25 20 20
3103 hex Speed Feedback Filter Time
Constant 1
00000000
3104 hex Torque Command Filter Time
Constant 1
*1
98776655
3105 hex Position Loop Gain 2 5240 5900 6500 7100 7700 8400 9400
10500
3106 hex Speed Loop Gain 2 2500 2800 3100 3400 3700 4000 4500 5000
3107 hex Speed Loop Integral Time
Constant 2
*2
10000 10000 10000 10000 10000 10000 10000 10000
3108 hex Speed Feedback Filter Time
Constant 2
00000000
3109 hex Torque Command Filter Time
Constant 2
*1
98776655
3110 hex Speed Feed-forward Gain 300 300 300 300 300 300 300 300
3111 hex Speed Feed-forward Command
Filter
50 50 50 50 50 50 50 50
3112 hex Torque Feed-forward Gain 0 0 0 0 0 0 0 0
3113 hex Torque Feed-forward Command
Filter
00000000
3114 hex Gain Switching Input Operating
Mode Selection
11111111
3115 hex Switching mode in Position Control Gain Switching Enable Mode: 10
Gain Switching Disable Mode: 0
3116 hex Gain Switching Delay Time in
Position Control
30 30 30 30 30 30 30 30
3117 hex Gain Switching Level in Position
Control
50 50 50 50 50 50 50 50
3118 hex Gain Switching Hysteresis in
Position Control
33 33 33 33 33 33 33 33
3119 hex Position Gain Switching Time 33 33 33 33 33 33 33 33
3607 hex Torque Command Value Offset Estimated torque command additional value
3608 hex Forward Direction Torque Offset Estimated positive torque compensation value
3609 hex Reverse Direction Torque Offset Estimated negative torque compensation value
3610 hex.0,
3610 hex.1
Function Expansion Setting 0 0 0 0 0 0 0 0
3623 hex Disturbance Torque Compensation
Gain
00000000
3624 hex Disturbance Observer Filter
Setting
00000000