Objects Requiring Settings - Omron R88D-KN series User Manual

11 Adjustment Functions
Precautions for Correct Use Precautions for Correct Use
• Realtime autotuning may not function properly under the conditions described in the following
table. In such cases, change the load condition or the operating pattern, or use manual tuning.
Load condition
Operation
pattern
• The force feed-forward function cannot be used when realtime autotuning is being used. Set
both the Force Feed-forward Gain (3112 hex) and Force Feed-forward Command Filter
(3113 hex) to 0.

11-3-2 Objects Requiring Settings

Index
3002 hex Realtime Autotuning Mode
Selection
3003 hex Realtime Autotuning Machine
Rigidity Setting
3631 hex Realtime Autotuning Estimated
Speed Selection
3632 hex Realtime Autotuning Customization
Mode Setting
11-8
Conditions that interfere with the realtime autotuning
• If the load mass is too small or too large compared with the Motor Coil Unit Mass
(less than 3 times, or more than 20 times or more).
• If the load mass changes.
• If the machine rigidity is extremely low.
• If there is non-linear characteristics, such as a backlash.
• If the speed continues at below 100 [mm/s].
• If the acceleration/deceleration is below 2,000 [mm/s] in 1 [s].
• If either a speed of 100 [mm/s] or higher, or an acceleration/deceleration of
2,000 [mm/s] or higher in 1 [s] does not last for at least 50 [ms].
• If the acceleration/deceleration force is too small compared with the unbalanced
load and the viscous friction force.
Name
Set the operation mode for the realtime
autotuning.
Set the responsiveness when the realtime
autotuning is enabled.
Set the speed to estimate the load
characteristic when the realtime autotuning is
enabled.
Make detailed settings for the autotuning
function, when 6: the customized mode is
selected in the Realtime Autotuning Mode
Selection (3002 hex).
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Explanation Reference
page 9-4
page 9-4
page 9-46
page 9-47