Omron R88M-K Manual page 24

■ 4: Behavior configuration of G5 series
Fill in the Auto Tune Configuration, Motion Profile Generator, and Criteria for finishing Auto Tune fields of auto tuning, and
click Next.
● Auto Tune Configuration
• Set the number of times in Number of tuning iterations.
• Set the time of one tuning in Duration of a tuning iteration.
* Start tuning with default values; if the tuning was inadequate, set enough number and time.
● Motion Profile Generator
Select one of the following two commands for operation to execute auto tuning.
• The Motion Controller will perform the motion profile: Issues commands from the drive controlling controller to execute
auto tuning.
• CX-Drive (and not the motion controller) will perform the motion profile: The operation is commanded by CX-Drive.
* As the JOG commands of CX-Drive, set Operation (operation method), Step distance, Step Jog Speed, and
Acceleration/Deceleration Time of the motor.
● Criteria for finishing Auto Tune
Set the positioning stabilization time when auto tuning is completed.
As the conditions for that motion, set Overshoot level, Torque vibration level, and Positioning Completion Range 1.
* Auto tuning may not be completed depending on the setting of Stabilization time or Positioning Completion Range 1. In
that case, increase one of the settings, and execute it again.
* Auto tuning may not be completed if Overshoot level is set too low.
* Detecting a vibration of Torque vibration level results in a stop. In that case, increase the setting, and execute it again.
Alternatively, enable adaptive filters, or read vibration frequencies from torque waveforms and set these frequencies to
notch filters to reduce the gains of vibration generating frequencies, and then execute it again.
G5 series
Parameter
No. Parameter name
[dec]
Adaptive Filter
Pn200
Selection
Notch 1 Frequency
Pn201
Setting
Notch 2 Frequency
Pn204
Setting
Default
setting
[dec]
To enable adaptive filters, set 2: Two adaptive filters enabled (3rd and 4th
0
notch filters used).
5,000 To use notch filters, set vibrating frequencies to Notch 1 Frequency
Hz Setting/Notch 2 Frequency Setting (Pn201/Pn204).
Remarks
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