R88M-WP10030S-BWS1 Omron, R88M-WP10030S-BWS1 Datasheet - Page 340

• Manufacturer Part Number: R88M-WP10030S-BWS1
• Description: SERVO MOTOR 100W 100V W/BRAKE
• Manufacturer: Omron

Specifications of R88M-WP10030S-BWS1

• Lead Free Status / Rohs Status: Lead free / RoHS Compliant
• Other names: R88MWP10030SBWS1

Operation
H Selecting Mechanical Rigidity During Online Auto-tuning (Fn001)
• Setting the rigidity during online auto-tuning sets the servo system’s target speed loop gain and posi-
• Select the rigidity setting (Fn001) from the following 10 levels to suit the mechanical system.
Note 1. The servo-system loop gain will rise in response to a higher rigidity setting, shortening posi-
Note 2. When setting the rigidity, the user parameters in the above table will change automatically.
Note 3. If you enable auto-tuning without setting the rigidity, the user parameter settings (Pn102,
4-102
Low
Medium
High
tion loop gain.
Response
g
tioning time. If the setting is too large, however, the machinery may vibrate, so make the set-
ting small.
Pn100, Pn101, and Pn401) will be used as the tuning target values.
01
02
03
04
05
06
07
08
09
10
(d.00jj)
Rigidity
setting
Fn001
15
20
30
40
60
85
120
160
200
250
loop gain
Position
Pn102
(S
–1
)
15
20
30
40
60
85
120
160
200
250
Speed loop
Pn100
gain
(Hz)
6000
4500
3000
2000
1500
1000
800
600
500
400
Speed loop
integration
(x 0.01 ms)
constant
Pn101
time
250
200
130
100
70
50
30
20
15
10
(x 0.01 ms)
command
filter time
constant
Torque
Pn401
Representative
Articulated
robots,
harmonic
harmonic
drives, chain
drives, belt
drives rack and
drives, rack and
pinion drives,
etc.
XY tables, Car-
tesian-coordi-
nate robots,
general-pur-
pose machin-
ery, etc.
Ball screws
(di
(direct
coupling)
coupling),
feeders, etc.
feeders, etc.
Chapter 4
applications
(mechanical
system)