Objects Requiring Settings; Setting Realtime Autotuning - Omron OMNUC G5 Series User Manual

11-3 Realtime Autotuning

Objects Requiring Settings

Index
Realtime Autotuning
3002 hex
Mode Selection
Realtime Autotuning
3003 hex
11
Machine Rigidity Setting
Realtime Autotuning
3631 hex Estimated Speed
Selection
Realtime Autotuning
3632 hex Customization Mode
Setting

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 a vertical axis is used.
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.
value
11-7
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 the
customized mode (3002 hex = 6) is selected in the Realtime
Autotuning Mode Selection (3002 hex).
Set
Realtime autotuning
0 Disabled
Focus on stability (default
1
setting)
2 Focus on positioning
3 Vertical axis
Friction compensation and
4
vertical axis
5 Load characteristic estimation
6 Customization
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Explanation
Description
Realtime autotuning is disabled.
No unbalanced load or friction compensation, nor gain
switching.
Used for a horizontal axis or others that have no
unbalanced load, or for a ball screw drive with little 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 for a belt-driving shaft with large friction. Variations in
finalizing the positioning are suppressed.
Used only for estimating load characteristics.
Detailed customization can be set in the Realtime
Autotuning Customization Mode Setting (3632 hex).
Reference
page 9-2
page 9-2
page 9-41
page 9-41