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Omron R88D-KN series User Manual

Omron R88D-KN series
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11 Adjustment Functions
11-12
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
This section lists the objects to be changed by the realtime autotuning function.
Objects to be updated by the Realtime Autotuning Mode Selection (3002 hex)
and Realtime Autotuning Customization Mode Setting (3632 hex) settings
Setting the Realtime Autotuning Mode Selection (3002 hex) and the Realtime Autotuning
Customization Mode Setting (3632 hex) causes the following objects to be updated using the load
characteristic estimation value.
*1 The Mass Ratio will be updated if the Realtime Autotuning Customization Mode Setting (3632 hex) bits 2 to 3
are set to 1 (Update with the estimation result).
Objects to be updated by the Realtime Autotuning Machine Rigidity Setting
(3003 hex) setting
Setting the Realtime Autotuning Machine Rigidity Setting (3003 hex) causes the following objects to
be updated.
For details, refer to Realtime Autotuning Object Table on page 11-11.
11-3-5 Objects to be Changed
Objects to be Updated
Index Name Description
3004 hex Mass Ratio Updated when realtime autotuning is operating.
However, in the customized mode, this object may not be
updated depending on its settings.
*1
3607 hex Force Command Value Offset Updated when the unbalanced load mode for realtime
autotuning is enabled.
3608 hex Positive Direction Force Offset Updated when the friction compensation/unbalanced load
mode for realtime autotuning is enabled.
3609 hex Negative Direction Force Offset Updated when the friction compensation/unbalanced load
mode for realtime autotuning is enabled.
Index Name Description
3100 hex Position Loop Gain Updated according to the rigidity.
3101 hex Speed Loop Gain 1
3102 hex Speed Loop Integral Time Constant 1
3104 hex Force Command Filter Time Constant 1
3105 hex Position Loop Gain 2
3106 hex Speed Loop Gain 2
3107 hex Speed Loop Integral Time Constant 2
3109 hex Force Command Filter Time Constant 2
Objects to Have a Fixed Value
Index Name Description
3103 hex Speed Feedback Filter Time Constant Set this object to 0.
3108 hex Speed Feedback Filter Time Constant 2 Set this object to 0.
3110 hex Speed Feed-forward Gain Set this object to 300 (30%).
3111 hex Speed Feed-forward Command Filter Set this object to 50 (0.5 ms).

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Omron R88D-KN series Specifications

General IconGeneral
BrandOmron
ModelR88D-KN series
CategoryController
LanguageEnglish

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