R88A-CNG01R Omron, R88A-CNG01R Datasheet - Page 347

• Manufacturer Part Number: R88A-CNG01R
• Description: Encoder Connector ABS Motor
• Manufacturer: Omron

Specifications of R88A-CNG01R

• Lead Free Status / Rohs Status: Lead free / RoHS Compliant

Setting range
Setting range
Setting range
Pn20
Pn21
Pn22
Explanation of Settings
• Use this parameter to set the load inertia as a percentage of the Servomotor rotor inertia.
• Pn20 = (Load inertia ÷ Rotor inertia) × 100%
• When normal mode autotuning is executed, the load inertia will be automatically estimated after
• When realtime autotuning is enabled, the inertia ratio is continuously estimated and saved in
• If the inertia ratio is set correctly, the setting unit for the Speed Loop Gain (Pn11) and Speed Loop
• If the Inertia Ratio (Pn20) is set larger than the actual value, the setting for speed loop gain will
• Use this parameter to set the operating mode for realtime autotuning.
• The higher the value that is set (e.g., 3 or 6), the faster the response is for a change in inertia during
• Use a setting of 4 to 6 if a vertical axis is used.
• Use setting 7 if vibration is caused by gain switching.
• Use this parameter to set the machine rigidity to one of 16 levels when realtime autotuning is
• If the setting is changed suddenly by a large amount, the gain will change rapidly, subjecting the
the specified operation, and this parameter will be updated with the result.
EEPROM every 30 min.
Gain 2 (Pn19) will be Hz.
increase. If the inertia ratio is set smaller than the actual value, the setting for speed loop gain will
decrease.
operation. Operation, however, may be unstable depending on the operating pattern. Normally,
set the parameter to 1 or 4.
enabled.
machine to shock. Always start by making small changes in the setting, and gradually increase the
setting while monitoring machine operation.
Inertia Ratio
Realtime Autotuning Mode Selection
Realtime Autotuning Machine Rigidity Selection
Setting
Pn22
0
1
2
3
4
5
6
7
0 to 10000
0 to 7
Realtime autotuning is disabled.
Normal mode: There is almost no change.
Normal mode: There are gradual changes.
Normal mode: There are sudden changes.
Vertical axis mode: There is almost no change.
Vertical axis mode: There are gradual changes.
Vertical axis mode: There are sudden changes.
No gain switching: There is almost no change.
0 to F
0·1 - - - - - - - - - - - - - - - E·F
Low
Low
Low
Responsiveness
Machine rigidity
Servo gain
Unit
Unit
Unit
%
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High
High
High
Explanation
Default setting
Default setting
Default setting
5-16 User Parameters
300
0
2
Power OFF→ON
Power OFF→ON
Power OFF→ON
All modes
All modes
All modes
5-62
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5