Omron OMNUC G User Manual page 302

5-26 User Parameters
Pn
Parameter name Setting
No.
Realtime
Autotuning Mode
021
Selection
5
Realtime
Autotuning
022
Machine
Rigidity Selection
Adaptive Filter
023
Selection
5-69
Explanation
Sets the operating mode for realtime autotuning.
A setting of 3 or 6 will provide faster response to changes
in inertia during operation. Operation, however, may be
unstable depending on the operating pattern.
Normally, use a setting of 1 or 4.
Set to 4 to 6 when the Servomotor is used as a vertical
axis.
Gain switching is enabled at set values 1 to 6.
Use a setting of 7 if operation changes caused by gain
switching are a problem.
Realtime
Autotuning
0 Disabled
1
Horizontal axis
2
mode
3
4
Vertical axis
5
mode
6
Gain switching
7
disable mode
Sets the machine rigidity for realtime autotuning.
Increasing this value increases the responsiveness.
If the value is changed suddenly by a large amount, the
gain will change rapidly, subjecting the machine to shock.
Always start by making small changes in the value, and
gradually increase the value while monitoring machine
operation.
Cannot be set to 0 when using the Parameter Unit.
Enables or disables the adaptive filter.
The Adaptive Filter Table Number Display (Pn02F) will be
reset to 0 when disabled.
Note When the Vibration Filter Selection (Pn024) is set
to a low-pass filter type (Pn024 = 3 to 5), the
adaptive filter is forcibly set to disabled
(Pn023 = 0).
0 Adaptive filter disabled.
Adaptive filter enabled.
1
Adaptive operation performed.
Adaptive filter enabled. Adaptive operation will not
2
be performed (i.e., retained).
Default
setting
Degree of change in
load inertia
0
---
Almost no change
Gradual changes
Sudden changes
Almost no change
Gradual changes
Sudden changes
Almost no change
2
0
Setting
Unit
range
--- 0 to 7 B
--- 0 to F B
--- 0 to 2 B