R88A-CCW002C Omron, R88A-CCW002C Datasheet - Page 361

• Manufacturer Part Number: R88A-CCW002C
• Description: D-NET UNIT I/O CONNECTOR
• Manufacturer: Omron

Specifications of R88A-CCW002C

• Lead Free Status / Rohs Status: Lead free / RoHS Compliant
• Other names: R88ACCW002C

Operation
4-7
4-7-1
H What Is Online Auto-tuning?
• Online auto-tuning is a control function that measures the driver’s load inertia while it is operating, and
Note You cannot use online auto-tuning in the following cases.
H Online Auto-tuning Related Settings
• The following tables show the user parameters and System Check Modes relating to online auto-tun-
D User Parameters (Pnjjj)
D System Check Mode (Fnjjj)
Note The selected value is written to the user parameters.
Pn100
Pn101
Pn102
Pn103
Pn110
Pn401
Fn001
Fn007
attempts to maintain constantly the target speed loop gain and position loop gain.
ing.
Parameter
Function
code
No.
• When the Torque Control Mode is used for control.
• When IP control is used for a speed control loop (Pn10b.1 = 1).
• When using No. 2 gain for control (i.e., when GSEL (gain switching input) is input or automatic
• When the torque feed-forward function is used (Pn002.0 = 2).
• When the speed feedback compensation function is used (Pn110.1 = 0).
The OMNUC W-series AC Servo Driver is equipped with an online auto-tuning function.
Use this function to easily adjust the gain even if you are using a servo system for the first
time. If you cannot use the online auto-tuning function, adjust the gain manually.
gain switching is used).
Making Adjustments
Online Auto-tuning
Rigidity setting for online auto-tuning
Storing of online auto-tuning results
Speed loop gain
Speed loop integration time constant
Position loop gain
Inertia ratio
Online auto-tuning setting
Torque command filter time constant
Parameter name
Function name
Select 10 stages from a combination of Pn100,
Pn101, Pn102, and Pn401. (See note.)
The inertia ratio calculated using online
auto-tuning is written to Pn103 (inertia ratio).
Target value for auto-tuning
Integration time constant for auto-tuning
Target value for auto-tuning
Initial value for auto-tuning
Select auto-tuning function
Filter time constant for auto-tuning
Explanation
Explanation
Chapter 4
4-101