Omron R88D-KN series User Manual page 12

CONTENTS
11-3-1 Operationg Conditions .............................................................................................................. 11-7
11-3-2 Objects Requiring Settings ....................................................................................................... 11-8
11-3-3 Setting Realtime Autotuning...................................................................................................... 11-9
11-3-4 Setting Machine Rigidity............................................................................................................ 11-9
11-3-5 Objects to be Changed ........................................................................................................... 11-12
11-4 Manual Tuning...................................................................................................................... 11-14
11-4-1 Preparation for Manual Tuning ................................................................................................ 11-14
11-5 Damping Control.................................................................................................................. 11-16
11-5-1 Operating Conditions .............................................................................................................. 11-16
11-5-2 Objects Requiring Settings ..................................................................................................... 11-17
11-5-3 Operating Procedure............................................................................................................... 11-18
11-6 Adaptive Filter...................................................................................................................... 11-20
11-6-1 Operating Conditions .............................................................................................................. 11-21
11-6-2 Objects Requiring Settings ..................................................................................................... 11-21
11-6-3 Objects to be Set Automatically .............................................................................................. 11-22
11-6-4 Operating Procedure............................................................................................................... 11-22
11-7 Notch Filters......................................................................................................................... 11-23
11-7-1 Objects Requiring Settings ..................................................................................................... 11-24
11-7-2 Notch Filter Width and Depth .................................................................................................. 11-24
11-8 Disturbance Observer Function ......................................................................................... 11-26
11-8-1 Operating Conditions .............................................................................................................. 11-26
11-8-2 Objects Requiring Settings ..................................................................................................... 11-27
11-8-3 Operating Procedure............................................................................................................... 11-27
11-9 Friction Force Compensation Function............................................................................. 11-28
11-9-1 Operating Conditions .............................................................................................................. 11-28
11-9-2 Objects Requiring Settings ..................................................................................................... 11-28
11-9-3 Operation Example ................................................................................................................. 11-29
11-10 Feed-forward Function....................................................................................................... 11-30
11-10-1 Objects Requiring Settings ..................................................................................................... 11-30
11-10-2 Operating Procedure............................................................................................................... 11-31
11-11Instantaneous Speed Observer Function ......................................................................... 11-33
11-11-1 Operating Conditions .............................................................................................................. 11-33
11-11-2 Objects Requiring Settings ..................................................................................................... 11-34
11-11-3 Operating Procedure............................................................................................................... 11-34
Section 12 Troubleshooting and Maintenance
12-1 Actions for Problems ............................................................................................................ 12-2
12-1-1 Preliminary Checks When a Problem Occurs ........................................................................... 12-2
12-1-2 Precautions When a Problem Occurs ....................................................................................... 12-3
12-1-3 Replacing the Servo Drive ........................................................................................................ 12-3
12-2 Warnings ................................................................................................................................ 12-4
12-2-1 Related Objects......................................................................................................................... 12-4
12-2-2 Warning List .............................................................................................................................. 12-5
12-3 Errors ...................................................................................................................................... 12-7
12-3-1 Error List ................................................................................................................................... 12-7
12-3-2 Immediate Stop Operation at Errors ......................................................................................... 12-9
12-4 Troubleshooting................................................................................................................... 12-11
12-4-1 Troubleshooting with Error Displays ........................................................................................ 12-11
12-4-2 Troubleshooting Using the Operation State ............................................................................ 12-22
12-5 Periodic Maintenance.......................................................................................................... 12-28
Appendicies
A-1 CiA402 Drive Profile ................................................................................................................A-2
10 G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type