Omron G5 Series User Manual page 432

9 Adjustment Functions
Precautions for Correct Use Precautions for Correct Use
• After startup, immediately after the first servo ON, or when the value set in Realtime
Autotuning Machine Rigidity Setting (Pn003) is increased, unusual noise or vibration may
occur until the load inertia is estimated or the adaptive filter stabilizes. This is not an error if it
disappears right away. If the unusual noise or vibration, however, continues for three or more
reciprocating operations, take the following measures in any order you can.
• Write the parameters used during normal operation to the EEPROM.
• Lower the value set in Realtime Autotuning Machine Rigidity Setting (Pn003).
• Manually set the notch filter.
• Once unusual noise or vibration occurs, Inertia Ratio 1 (Pn004), Torque Command Value
Offset (Pn607), Forward Direction Torque Offset (Pn608), and Reverse Direction Torque Offset
(Pn609) may have changed to an extreme value. In this case, also take the measures
described above.
• Out of the results of realtime autotuning, Inertia Ratio 1 (Pn004), Torque Command Value
Offset (Pn607), Forward Direction Torque Offset (Pn608), and Reverse Direction Torque Offset
(Pn609) are automatically saved to the EEPROM every 30 minutes. Realtime autotuning uses
this saved data as the default settings when the power supply is turned ON again.
• The parameters are automatically set based on Realtime Autotuning Machine Rigidity Setting
(Pn003) if realtime autotuning is enabled.
9 - 6 OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual