Omron OMNUC G User Manual page 373

The following graph shows the speed operating pattern when the set value is 0.
The operating pattern starts with 3 or 4 reciprocating operations, followed by up to 3 cycles of 2
reciprocations, with each cycle accelerated twice as much as the previous cycle.
The acceleration will stop changing, as it is limited by the No. 1 Torque Limit (Pn05E). This is not
an indication of failure.
2. Select the machine rigidity.
Set the machine rigidity number according to the rigidity of the machine. Refer to the following table
for the machine rigidity values.
Machine rigidity 0 cannot be selected for the Parameter Unit and CX-Drive.
Set the machine rigidity starting with a low value and check the operation.
Mechanical Configuration
/ Drive System
Ball screw direct coupling
Ball screw and timing belt
Timing belt
Gears, rack and pinion drives
Machines with low rigidity, etc.
Stacker crane
To improve the response, increase the machine rigidity number, and then check the response
again. If vibration occurs, lower the machine rigidity number and make adjustments.
The setting parameters are the same as in Realtime Autotuning (RTAT) Parameter Tables on page
7-7.
3. Execute normal mode autotuning.
Move the load to a position where it will not interfere with the operation performed according to the
operation pattern. For reciprocating movement,
movement, about 20 rotations will be made.
Operating with the Parameter Unit
1. Switch to the Normal Mode Autotuning display.
Servo lock is performed automatically.
For details on switching to the Normal Mode Autotuning display, refer to Normal Mode Autotuning
on page 6-24.
aktk_knkok1.
Machine rigidity No.
± 1 or ± 2 rotations will be made. For one-way
Nomal mode autotuning display
7-3 Normal Mode Autotuning
Machine Rigidity
6 to C
4 to A
2 to 8
2 to 8
1 to 4
Tune manually.
7
7-10