Omron R88D-KTA5L User Manual page 547

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 the parameter to 1 or 2. When using a vertical axis, set the parameter to 3 or 4.
A setting of 5 is used in combination with a software tool. Do not set the parameter to 5 for
normal operation.
The gain switching function is enabled for set values 2 to 4. If Pn002 is set to 2 to 4, the
Switching Mode in Position Control (Pn115) must be set to 10 (Combination of command pulse
input and speed). The gain is switched according to this switching condition setting. Refer to
page "Gain Switching Setting for Each Control Mode" (P.6-30) for details on setting the
Switching Mode in Position Control (Pn115).
Set
value
0 Disabled
Focus on stability (default
1
setting)
2 Focus on position control
3 Vertical axis
Friction compensation and
4
vertical axis
5 Load characteristic estimation
6 Customization
Setting Machine Rigidity
1. Set the Realtime Autotuning Machine Rigidity Selection (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
Timing belt
Gears, rack and pinion drives
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. If already enabled, lower the machine
rigidity number.
 The adaptive filter can be left enabled even when disabling realtime autotuning after completing
adjustments. Even if the adaptive filter is disabled, the set values of notch filters 3 and 4 will be maintained.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Realtime autotuning
10-2 Realtime Autotuning
Description
Realtime autotuning is disabled.
No unbalanced load, friction compensation, or gain
switching.
Used when unbalanced load and friction are small. Gain
switching is set.
Used when an unbalanced load is present, such as a
vertical axis.
Used when a vertical axis or other unbalanced load is
present and when friction is large.
Used only for estimating load characteristics.
Used to customize the Realtime Autotuning Mode.
Realtime Autotuning
Machine Rigidity Selection (Pn003)
12 to 24
8 to 20
4 to 16
4 to 16
1 to 8
Perform manual tuning.
10
10-4