R88A-CNG01R Omron, R88A-CNG01R Datasheet - Page 425

• 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

Automatically Set Parameters
• The parameters Pn15, Pn16, Pn1A, Pn30, and Pn32 to Pn36 are set to fixed values. For normal mode autotun-
*1. The value is 10 for position control and 0 for speed and torque control.
*2. The lower limit is set to 10 if a 17-bit encoder is used and to 25 if a 2,500-pulse/revolution encoder is used.
Parameter
ing, the default rigidity is 2.
Pn1C
Pn1A
Pn1B
Pn10
Pn11
Pn12
Pn13
Pn14
Pn15
Pn16
Pn18
Pn19
Pn20
Pn27
Pn30
Pn31
Pn32
Pn33
Pn34
Pn35
Pn36
No.
Normal Mode Autotuning
Position Loop Gain
Speed Loop Gain
Speed Loop
Integration Time
Constant
Speed Feedback
Filter Time
Constant
Torque Command
Filter Time
Constant
Feed-forward
Amount
Feed-forward
Command Filter
Position Loop Gain
2
Speed Loop Gain 2
Speed Loop
Integration Time
Constant 2
Speed Feedback
Filter Time
Constant 2
Torque Command
Filter Time
Constant 2
Inertia Ratio
Instantaneous
Speed Observer
Setting
Gain Switching
Input Operating
Mode Selection
Control Gain Switch
1 Setting
Gain Switch 1 Time 30
Gain Switch 1 Level
Setting
Gain Switch 1
Hysteresis Setting
Position Loop Gain
Switching Time
Control Gain Switch
2 Setting
Parameter
name
*1
*2
*2
253 126 103 84
300 300 300 300 300 300 300 300 300 300 300 300 300 300 300 300
999 999 999 999 999 999 999 999 999 999 999 999 999 999 999 999
253 126 103 84
12
62
50
19
10
50
33
20
0
9
0
9
0
0
1
0
32
18
31
50
38
18
10
30
50
33
20
1
0
0
0
1
0
39
22
25
50
46
22
10
30
50
33
20
2
0
0
0
1
0
48
27
21
50
57
27
10
30
50
33
20
3
0
0
0
1
0
63
35
16
65
50
73
35
65
10
30
50
33
20
4
0
0
0
1
0
72
40
40
14
57
50
84 105 126 157 188 241 293 356 440 524 649
57
10
30
50
33
20
5
0
0
0
1
0
Estimated load inertia ratio
90 108 135 162 206 251 305 377 449 557
50
50
30
12
45
50
45
10
50
33
20
6
0
0
0
1
0
Rigidity No.
60
60
11
38
50
38
10
30
50
33
20
7
0
0
0
1
0
75
30
50
75
30
10
30
50
33
20
7-3 Normal Mode Autotuning
8
9
0
0
0
1
0
90 115 140 170 210 250 310
25
50
90 115 140 1170 210 250 310
25
10
30
50
33
20
9
8
0
0
0
1
0
20
50
20
10
30
50
33
20
A
7
0
0
0
1
0
16
50
16
10
30
50
33
20
B
6
0
0
0
1
0
13
50
13
10
30
50
33
20
C
5
0
0
0
1
0
11
50
11
10
30
50
33
20
D
4
0
0
0
1
0
10
50
10
10
30
50
33
20
E
4
0
0
0
1
0
7-16
10
50
10
10
30
50
33
20
F
3
0
0
0
1
0
7