Setting Realtime Autotuning; Setting Machine Rigidity - Omron R88D-KN series User Manual

11-3-3 Setting Realtime Autotuning

1
When setting realtime autotuning, turn the servo OFF.
2
Set Realtime Autotuning mode Selection (3002 hex) depending on the load.
Normally, set the object to 1 or 2.
Use a setting of 3 or 4 when there is an unbalanced load.
A setting of 5 is used in combination with a software tool. Do not use it for normal operation.
Gain switching function is enabled for set values 2 to 6.
Set value
0 Disabled
1 Focus on stability
(default setting)
2
Focus on positioning
3
Unbalanced load
4 Friction compensation and
unbalanced load
5 Reserved
6 Customization
*1 The description for the set value 1 applies to the Speed Control/Force Control Mode.
*2 The description for the set value 1 applies to the Force Control Mode.
*3 The description for the set value 3 applies to the Speed Control; the description for the set value 1 applies to
the Force Control Mode.

11-3-4 Setting Machine Rigidity

1
Set the Realtime Autotuning Machine Rigidity Setting (3003 hex).
Start from the lower machine rigidity number and check the operation.
2
Turn the servo ON and operate the machine with a normal pattern.
To increase responsiveness, increase the machine rigidity number, and check the response. If
vibration occurs, enable the adaptive filter and operate. If already enabled, lower the machine
rigidity number.
3
If there are no problems with the operation, turn the servo OFF and set the Realtime Autotuning
Mode Selection (3002 hex) to 0 (disabled).
The adaptive filter can be left enabled even if realtime autotuning is disabled after the
completion of adjustments. Even if the adaptive filter is disabled, the settings of notch filters 3
and 4 are held.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Realtime autotuning
*1
*2
*3
Description
Realtime autotuning is disabled.
No unbalanced load or friction compensation, nor gain switching.
Used when there is no unbalanced load and a little friction.
Used when there is an unbalanced load.
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 any value.
Customization can be set in the Realtime Autotuning
Customization Mode Setting (3632 hex).
11 Adjustment Functions
11
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