Realtime Autotuning; Operationg Conditions - Omron R88D-KN series User Manual

11-3 Realtime Autotuning

Realtime autotuning estimates in realtime the load characteristic according to the motor speed and the
force command and operates the machine by automatically setting the gain according to the result of
the estimation. At the same time, it can lower the resonance and vibration if the adaptive filter is
enabled.
Realtime autotuning is enabled for any control to adjust the speed loop PI control.
Refer to 11-6 Adaptive Filter on page 11-20 for details about adaptive filters.
Position/Speed
command Position/

11-3-1 Operationg Conditions

Realtime autotuning works under the following conditions.
Operating mode
Others
*1 For details, refer to Realtime Autotuning Mode Selection on page 9-4.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Notch
Speed
Filter
control
The available realtime autotuning mode varies depending on the control mode.
• When Servo is ON.
• When elements other than control objects, such as the force limit settings, are set
correctly and there is no trouble with the motor's normal operation.
• Mass ratio estimation operation is disabled when magnetic pole position estimation is in
progress.
11 Adjustment Functions
Force
command
Generate
Current
Position
control
Command
Load
characteristic
estimation
Resonance
frequency
measurement

Operationg conditions

Motor
current
Motor
Motor speed
External encoder
11-7
11