R88A-CNG02R Omron, R88A-CNG02R Datasheet - Page 435

• Manufacturer Part Number: R88A-CNG02R
• Description: Encoder Connector INC Motor
• Manufacturer: Omron

Specifications of R88A-CNG02R

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

Gain Switching Function
Parameter
Pn1C
Pn1A
Pn1B
Pn10
Pn11
Pn12
Pn13
Pn14
Pn15
Pn16
Pn18
Pn19
No.
Application Example
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
With manual tuning, Gain 1 and Gain 2 can be set manually. The gain can be switched according
to the operation.
Switching from Gain 1 to Gain 2 can be used for the following applications.
• To increase responsiveness by increasing the gain during operation.
• To increase servo lock rigidity by increasing the gain when operation is stopped.
• To switch to an optimal gain according to the operating mode.
• To reduce the gain to suppress vibration when operation is stopped.
The example is for a case where noise is a problem when the Servomotor is stopped (servo lock),
and the noise is reduced by switching to a lower gain setting after the Servomotor has stopped.
Refer to Normal Mode Autotuning on page 7-16 for information on making adjustments.
Parameter name
Operation
Status
Gain
Stop
(Servo lock)
Low gain
(Gain 1)
Command
speed
manual tuning
without gain
switching.
Perform
Vibration is suppressed
by lowering the gain.
300
60
50
16
50
50
0
1 ms
High gain
(Gain 2)
Drive
2 ms
(Pn18 to Pn1C)
values as Gain
to the same
Set Gain 2
1 (Pn10 to
Pn14).
60
50
16
60
0
Stop
(Servo lock)
Low gain
(Gain 1)
(Pn30 to Pn35).
conditions
switching
Set gain
Time
7-5 Manual Tuning
when stopped.
Adjust Pn11
(for Gain 1)
and Pn14
30
85
7-26
7