Omron R88D-KTA5L User Manual page 548

10-2 Realtime Autotuning
 Unusual noise or vibration may occur until the load inertia is estimated or the adaptive filter
stabilizes after startup, immediately after the first servo ON, or when the Realtime Autotuning
Machine Rigidity Selection (Pn003) is increased. This is not an error if it disappears right away. If
the unusual noise or vibration, however, continues for 3 or more reciprocating operations, take the
following measures in any order you can.
 Once unusual noise or vibration occurs, Inertia Ratio (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, the Inertia Ratio (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 will use this
saved data as the default setting when the power supply is turned OFF and turned ON again.
 The parameter will automatically be set based on the Realtime Autotuning Machine Rigidity
Setting (Pn003) if realtime autotuning is enabled.
Realtime Autotuning (RTAT) Parameter Table
Parameter
number
Pn004
Pn100
Pn101
Pn102
Pn103
10
Pn104
Pn105
Pn106
Pn107
Pn108
Pn109
Pn110
Pn111
Pn112
Pn113
Pn114
Pn115
Pn116
Pn117
Pn118
Pn119
Pn120
Pn121
10-5
Precautions for Correct Use
 Write the parameters used during normal operation to the EEPROM.
 Lower the Realtime Autotuning Machine Rigidity Selection (Pn003).
 Manually set the notch filter.
Parameter name
Inertia Ratio
Position Loop Gain
Speed Loop Gain
Speed Loop Integral Time Constant
Speed Feedback Filter Time Constant
Torque Command Filter Time Constant 1
Position Loop Gain 2
Speed Loop Gain 2
Speed Loop Integral Time Constant 2
Speed Feedback Filter Time Constant 2
Torque Command Filter Time Constant 2
Speed Feed-forward Amount
Speed Feed-forward Command Filter
Torque Feed-forward Amount
Torque Feed-forward Command Filter
Gain Switching Input Operating Mode
Selection
Switching Mode in Position Control
Gain Switching Delay Time in Position Control 30
Gain Switching Level in Position Control
Gain Switching Hysteresis in Position
Control
Position Gain Switching Time
Switching Mode in Speed Control
Gain Switching Delay Time in Speed Control
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
AT Machine Rigidity Setting (Pn003)
0 1 2
Estimated load inertia ratio
20 25 30 40
15 20 25 30
3700 2800 2200 1900
0 0 0 0
*1
1500 1100 900 800
25 30 40 45
15 20 25 30
*2
10000 10000 10000 10000 10000 10000 10000 10000
0 0 0 0
*1
1500 1100 900 800
300 300 300 300
50 50 50 50
0 0 0 0
0 0 0 0
1 1 1 1
Gain Switching Enable Mode: 10
Gain Switching Disable Mode: 0
30 30 30
50 50 50 50
33 33 33 33
33 33 33 33
0 0 0 0
0 0 0 0
3 4 5 6 7
45 55 75 95
35 45 60 75
1600 1200 900 700
0 0 0 0
600 500 400 300
55 70 95 120
35 45 60 75
0 0 0 0
600 500 400 300
300 300 300 300
50 50 50 50
0 0 0 0
0 0 0 0
1 1 1 1
30 30 30 30
50 50 50 50
33 33 33 33
33 33 33 33
0 0 0 0
0 0 0 0