Setting Realtime Autotuning; Setting Machine Rigidity - Omron G5 Series User Manual

9-2-1

Setting Realtime Autotuning

1
When setting realtime autotuning, turn the servo OFF.
2
Set Realtime Autotuning Mode Selection (Pn002) depending on the load.
Normally, set this parameter to 1 or 2. Use a setting of 3 or 4 when a vertical axis is used. A
setting of 5 is used in combination with a software tool. Do not set the parameter to 5 for normal
operation.
Gain switching function is enabled for set values 2 to 6. Setting a value between 2 and 6 sets
Switching Mode in Position Control (Pn115) to 10 (Combination of command pulse input and the
speed). The gain will be switched according to this switching condition.
For details about setting Switching Mode in Position Control (Pn115), refer to Gain Switching
Setting for Each Control Mode on page 6-30.
Set
value
0 Disabled
1 Focus on stability
(default setting)
2 Focus on positioning
3 Vertical axis
4 Friction compensation and vertical
axis
5 Load characteristic estimation
6 Customization
9-2-2

Setting Machine Rigidity

1
Set Realtime Autotuning Machine Rigidity Setting (Pn003) according to the table below.
Start from the lower machine rigidity number and check the operation.
Machine configuration and drive method
Ball screw direct coupling
Ball screw and timing belt
Gears, rack and pinion drive
Other machines with low rigidity
Stacker cranes
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 the machine. If already enabled, lower
the machine rigidity number.
• The adaptive filter can be left enabled when realtime autotuning is disabled after the
completion of adjustments.
Even if the adaptive filter is disabled, the set values of notch filters 3 and 4 are held.
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
Realtime autotuning
Timing belt
Description
Realtime autotuning is disabled.
No unbalanced load or friction compensation, nor gain
switching.
Used when there is a small unbalanced load or friction.
Used when unbalanced load is present, i.e., with a vertical
axis, etc.
Used when a vertical axis or other unbalanced load is present
and when friction is large.
Used only for estimating load characteristics.
Used for customizing the realtime autotuning mode.
Realtime Autotuning
Machine Rigidity Setting (Pn003)
12 to 24
8 to 20
4 to 16
4 to 16
1 to 8
Perform manual tuning.
9 Adjustment Functions
9
9 - 5