R88M-WP20030H-BW Omron, R88M-WP20030H-BW Datasheet - Page 290

• Manufacturer Part Number: R88M-WP20030H-BW
• Description: SERVO MOTOR 200W 200V W/BRAKE
• Manufacturer: Omron

Specifications of R88M-WP20030H-BW

• Lead Free Status / Rohs Status: Lead free / RoHS Compliant
• Other names: R88MWP20030HBW

Operation
Note Setting Pn10b.1 (speed control loop switching) to 1 (IP control) changes the parameter to switch
Setting Explanation
• Set the speed control loop to either PI control or IP control.
• There is normally no need to change the setting.
• If you cannot shorten positioning time in PI control, change the setting to 1 (IP control).
Note Online auto-tuning does not normally operate in IP control.
Setting Explanation
Note 1. Automatic gain switching is enabled for positioning control only. When positioning control is
Note 2. When automatic gain switching is used (set value is between 1 and 3), gain switching using
Note 3. This new parameter is supported by Servo Drivers with software version “r.0037.”
Note Do not change the setting.
4-52
Pn10b.1
Setting
range
0
1
Pn10b.2
Setting
range
0
1
2
3
Pn10b.3
Setting
range
Pn10C
Setting
range
• Sets to enable or disable automatic gain switching.
• When automatic gain switching is used, set in Pn124 (automatic gain switching timer) the switching
• when position deviation is used to perform gain switching, set the amount of position deviation used
delay time after conditions are met.
as the switching condition in Pn125 (automatic gain switching width).
Setting
Setting
from IP control to P control.
not used, the Servomotor operates using the No. 1 gain.
GSEL (gain switching input) is disabled.
Speed control setting –– Speed control loop switching (Position, speed, internally-set speed
control)
0, 1
Speed control setting –– Automatic gain switching selection
0 to 3
Speed control setting –– Not used.
---
P control switching (torque command) (Position, speed, internally-set speed control)
0 to 800
PI control
IP control
Automatic gain switching disabled.
Gain switching using position commands.
Gain switching using position deviation.
Gain switching using position commands and position deviation
Unit
Unit
Unit
Unit
---
---
---
%
Default
setting
Default
setting
Default
setting
Default
setting
Explanation
Explanation
0
0
0
200
Restart
power?
Restart
power?
Restart
power?
Restart
power?
Chapter 4
Yes
No
No
No