Omron R88D-KN series User Manual page 305

Realtime Autotuning Customization Mode Setting
3632 hex
32768 to
Setting range
32767
Size 2 bytes (INT16)
• Set the details of the autotuning function when the Realtime Autotuning Mode Selection (3002 hex) is
set to 6.
For the Realtime Autotuning Mode Selection (3002 hex), refer to Realtime Autotuning Mode Selection
on page 9-4.
Explanation of Settings
Bit
0 to 1 Load characteristic
estimation
2 to 3 Mass ratio updating
4 to 6 Force compensation
7 Rigidity setting
8 Fixed object settings
9 to 10 Gain switch setting
*1 When load characteristic estimation is disabled, mass ratio updating is also disabled, even if the latter is set to
be updated with the estimation result. When force compensation is updated with the estimation result, load
characteristic estimation is disabled.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type

Unit
Access
Name
Select to enable or disable load characteristic estimation.
*1
0: Disable
1: Enable
Select whether to update the present set value of the Mass Ratio (3004
hex) with the load characteristic estimation result.
0: Use the present set value.
1: Update with the estimation result.
Select whether to update three objects, Force Command Value Offset
(3607 hex), Positive Direction Force Offset (3608 hex), and Negative
Direction Force Offset (3609 hex), with the load characteristic
estimation result.
0: Use the present set value.
1: Disable the force compensation. Clear the above three objects to
zero.
2: Unbalanced load. Update 3607 hex. Clear 3608 hex and 3609 hex to
zero.
3: Friction compensation (small). Update 3607 hex. Set a small
compensation to 3608 hex and 3609 hex.
4: Friction compensation (intermediate). Update 3607 hex. Set an
intermediate compensation in 3608 hex and 3609 hex.
5: Friction compensation (large). Update 3607 hex. Set a large
compensation in 3608 hex and 3609 hex.
Select to enable or disable the basic gain setting by the Realtime
Autotuning Machine Rigidity Setting (3003 hex).
0: Disable
1: Enable
Select whether to allow changes to the objects that normally are fixed.
0: Use the present settings.
1: Set to fixed values.
Select the method to set the objects that relate to gain switching while
the realtime autotuning is enabled.
0: Use the present settings.
1: Disable gain switching.
2: Enable gain switching.
9 Servo Parameter Objects
Default 0
setting
RW PDO map
Description
All
Data B
attribute
Not possible.
9
9-47