R88M-WP10030S-BWS1 Omron, R88M-WP10030S-BWS1 Datasheet - Page 341

• 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 Online Auto-tuning Related User Parameters
Note Refer to 4-4-4 Parameter Details for details of each parameter.
4-7-2
H Rigidity Settings During Online Auto-tuning (Fn001)
• If you set the rigidity during online auto-tuning, the gains corresponding to machine rigidity are set
• Select the rigidity setting to suit the mechanical system from the following 10 levels.
Note Refer to 4-11-2 Online Auto-tuning Related Functions for System Check Mode operations.
Pn100
Pn101
Pn102
Pn103
Pn110
Pn401
Param-
automatically. Even if you adjust the gain as an initial setting using manual tuning, you can perform
tuning comparatively quickly, so we recommend setting the rigidity (Fn001) first.
eter
No.
t
Speed
loop
gain
Speed
loop in-
tegra-
tion time
constant
Posi-
tion
loop
gain
Inertia
ratio
Online
auto-
tuning
setting
Torque
com-
mand fil-
ter time
constant
Param-
name
eter
tti
g
Manual Tuning
Adjusts speed loop responsiveness.
Speed loop integration time constant
Adjusts position loop responsiveness.
Sets the ratio using the mechanical system inertia to Servomotor rotor
inertia ratio.
0
1
2
3
Sets the filter time constant for the internal torque command.
Digit
No.
Online
auto-tuning
selection
Speed
feedback
compensati
compensati
on function
selection
Viscous
f i ti
friction
compensati
on function
on function
selection
Not used.
Name
0
1
2
0
1
0
1
2
0
Setting
Explanation
Turns ON the power supply, then
performs auto-tuning on the RUN
startup only.
Auto-tuning always ON.
Auto-tuning OFF.
ON
OFF
Friction compensation: OFF
Friction compensation: Rated torque
ratio (small)
Friction compensation: Rated torque
ratio (large)
Do not change the setting.
Explanation
80
2000
40
300
0012
40
Default
setting
tti
Hz
x
0.01 ms
1/s
%
---
x
0.01 ms
Unit
Chapter 4
1 to
2000
15 to
51200
1 to
2000
0 to
10000
---
0 to
65535
Setting
range
g
Restart
No
No
No
No
Yes
No
power
4-103
?