Omron OMNUC G User Manual page 322

5-27 Details on Important Parameters
Pn No.
Pn021
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, set the parameter to 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.
5
Precautions
for Correct Use
Pn No.
Pn022
Sets the machine rigidity for realtime autotuning.
When realtime autotuning is enabled, each parameter in the table is automatically set to the
machine rigidity values in "Realtime Autotuning (RTAT) Parameter Tables" on the next page.
Autotuning adjusts the response by estimating the load inertia based on these values.
Thus, if the value is too large and not suitable for the load, vibration or resonance may occur.
If this occurs, lower the setting.
5-89
Parameter name
Realtime Autotuning
Mode Selection
Setting Realtime Autotuning
0 Disabled
1
2 Horizontal axis mode
3
4
5 Vertical axis mode
6
7 Gain switching disable mode
In realtime autotuning, responses to inertia changes are derived from the
changes in approximately 10 s.
Realtime autotuning may not be able to follow sharp changes in inertia.
In this case, the vibrations may occur in the operation. Disable realtime
autotuning by setting 0 when the operation has become normal.
Parameter name
Realtime Autotuning
Machine Rigidity Selection
Setting
Unit
range
0 to 7 ---
Degree of change in load inertia
---
Almost no change
Gradual changes
Sudden changes
Almost no change
Gradual changes
Sudden changes
Almost no change
Setting
Unit
range
0 to F ---
Default
Attribute
setting
0 B
Default
Attribute
setting
2 B