R88M-WP10030S-WS1 Omron, R88M-WP10030S-WS1 Datasheet - Page 292

• Manufacturer Part Number: R88M-WP10030S-WS1
• Description: SERVO MOTOR 100W 100V
• Manufacturer: Omron

Specifications of R88M-WP10030S-WS1

• Lead Free Status / Rohs Status: Lead free / RoHS Compliant
• Other names: R88MWP10030SWS1

Operation
Note Refer to 4-7-1 Online Auto-tuning for details.
Setting Explanation
• Select the auto-tuning function you want to use.
• 0: After the power is turned ON, execute auto-tuning and, when the load inertia calculations are com-
• 1: Constantly refresh the load inertia calculation data and constantly store the responses. Make this
• 2: Do not execute auto-tuning. Make this setting if you cannot use auto-tuning (see above), or if adjust-
• Make this setting 0 or 2 if auto-tuning is disabled. (See above.)
Setting Explanation
• This function shortens positioning time.
• Use this function to lower speed loop feedback gain, and to raise speed loop gain and position loop
4-54
Pn110.0
Setting
range
0
1
2
Pn110.1
Setting
range
0
1
plete, use the data for control. Thereafter, do not perform auto-tuning again whenever the power is
turned ON. Make this setting if load inertia fluctuation is small.
setting if load inertia fluctuates constantly.
ing the gain manually. Also set this parameter to 2 if load inertia fluctuation is small, and if, having once
calculated load inertia using auto-tuning (setting: 0), you wish to perform subsequent control using the
same conditions after having saved the auto-tuning results to memory (System Check Mode opera-
tion).
gain. In this way, you can improve command responsiveness and shorten positioning time. Position-
ing time cannot be shortened, however, when external force is applied as with the vertical shaft, be-
cause responsiveness to external interference is lowered.
Setting
Setting
S Using torque feed-forward function (Pn002.0 = 2)
S Using speed feedback compensation function (Pn110.1 = 0)
S When load inertia fluctuates by 200 ms maximum.
S During operations where rotation speed does not exceed 500 r/min., or output torque does not
S When external power is constantly applied, as with the vertical axis.
exceed 50% of the rated torque.
Online auto-tuning setting –– Online auto-tuning selection (Position, speed, internally-set
speed control)
0 to 2
Online auto-tuning setting –– Speed feedback compensation function selection (Position,
speed, internally-set speed control)
0, 1
After the power is turned ON, auto-tuning is only performed for the initial operation.
Auto-tuning is always performed.
Auto-tuning is not used.
Speed feedback compensation function ON
Speed feedback compensation function OFF
Unit
Unit
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Default
setting
Default
setting
Explanation
Explanation
2
1
Restart
power?
Restart
power?
Chapter 4
Yes
Yes