Omron R88D-KN series User Manual page 262

9 Servo Parameter Objects
Realtime Autotuning Mode Selection
3002 hex
Setting range 0 to 6
Size 2 bytes (INT16)
• Set the operating mode for realtime autotuning.
Explanation of Settings
Set value Realtime autotuning
0 Disabled
1 Focus on stability
(default setting)
2 Focus on position
control
3 Unbalanced load
mode
4 Friction
compensation and
unbalanced load
mode
5 Reserved
6 Customization
*1 Refer to Realtime Autotuning Customization Mode Setting on page 9-47 for setting the realtime autotuning
function (3632 hex).
Refer to 11-3 Realtime Autotuning on page 11-7 for details of realtime autotuning settings.
Realtime Autotuning Machine Rigidity Setting
3003 hex
0 to 31
Setting range
Size 2 bytes (INT16)
*1 The default setting is 11 for a Drive with 200 V and 1 kW or greater, or for a Drive with 400 V.
• Set the machine rigidity to one of 32 levels when realtime autotuning is enabled.
• The higher the machine rigidity set value is, the higher the responsiveness is, however, the more
vibration occurs.
3003 hex
• Refer to 11-3 Realtime Autotuning on page 11-7 for details of realtime autotuning settings.
Precautions for Correct Use Precautions for Correct Use
If the set value is changed suddenly by a large amount, the gain may change rapidly, subjecting
the machine to shock. Always start with a small setting, and gradually increase the setting while
monitoring machine operation.
9-4

Unit
Access
Realtime autotuning is disabled.
No unbalanced load, friction compensation, or gain switching.
Used when there is no unbalanced load and a little friction.
Used when an unbalanced load is present.
Used when there is an unbalanced load and a large friction.
Variations in the positioning stabilization time are suppressed when friction
is large.
Do not set.
This mode is used for customizing the realtime autotuning function by
using the Realtime Autotuning Customization Mode Setting (3632 hex).

Unit
Access
Low ←Machine rigidity→ High
Low ←Servo gain→ High
0.1 - - - - - - - - - - - - - - - 31
Low ←Responsiveness→ High
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Default setting 1
RW PDO map
Description
Default setting *1
13
RW PDO map
All
Data attribute B
Not possible.
*1
All
B
Data attribute
Not possible.