Omron OMNUC G5 R88M-K series User Manual page 331

Pn631
Realtime Autotuning Estimated Speed Selection
Setting
0 to 3
range
 Set the speed to estimate the load characteristic while the realtime autotuning is enabled.
 The higher the set value is, the earlier the load characteristic change is followed. But the estimated
variation against the disturbance becomes greater.
 Estimated results is updated in every 30 minutes, and saved in EEPEOM.
 Refer to "10-3 Realtime Autotuning (P.10-6)".
Explanation of Set Values
Set
value
0 No change
1 Little change
2 Gradual change
3 Sharp change
Pn632
REALTIME AUTOTUNING CUSTOMIZATION mode Setting
Setting
32768 to 32767
range
 Set the details of autotuning function, when the Realtime Autotuning Mode Selection (Pn002) is
set to 6.
 Refer to "10-3 Realtime Autotuning (P.10-6)".
Explanation of Set Values
Bit
Load characteristic
0 to 1
estimation
2 to 3 Inertia ratio updating
4 to 6 Torque compensation
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

Unit
Mode
Stops the load estimation.
Estimates in every minute from the load characteristic changes.
Estimates in every second from the load characteristic changes.
Estimates the optimum from the load characteristic changes.

Unit
Name
Select to enable or disable the load characteristic estimation.
0: Disable
*1
1: Enable
Select whether to update the present set value on the Inertial
Ratio (Pn004) by the load characteristic estimation result.
0: Use the present set value.
1: Update by the estimation result.
Select whether to update three parameters, Torque Command
Value Offset (Pn607), Forward Direction Torque Offset (Pn608),
and Reverse Direction Torque Offset (Pn609), by the load
characteristic estimation result.
0: Use the present set value.
1: Disable the torque compensation. Clear the above three
parameters to zero.
2: Vertical mode, Update Pn607. Clear Pn608 and Pn609 to
zero.
3: Friction compensation (small), Update Pn607. Set a small
compensation to Pn608 and Pn609.
4: Friction compensation (intermediate), Update Pn607. Set an
intermediate compensation to Pn608 and Pn609.
5: Friction compensation (large), Update Pn607. Set a large
compensation to Pn608 and Pn609.
8-7 Special Parameters
Default Data
0
setting attribute
Description
Default Data
0
setting attribute
Description
All
B
All
B
8
8-56