Omron R88D-KN01L-ECT-L User Manual page 327

Realtime Autotuning Estimated Speed Selection
3631 hex
Setting 0 to 3
range
Size 2 bytes (INT16)
• Set the speed to estimate the load characteristic while the realtime autotuning is enabled.
• The higher the set value is, the earlier the load characteristic change is followed, but the estimated
variation against the disturbance becomes greater.
• The estimated results is updated in every 30 minutes and saved in EEPROM.
Explanation of Settings
Set value
0 No change
1 Little change
2 Gradual change
3 Sharp change
For details on realtime autotuning, refer to 11-3 Realtime Autotuning on page 11-7.
Realtime Autotuning Customization Mode Setting
3632 hex
Setting –32,768 to 32,767
range
Size 2 bytes (INT16)
• Make detailed settings for the autotuning function, when 6: the customized mode is selected in the
Realtime Autotuning Mode Selection (3002 hex).
For the Realtime Autotuning Mode Selection (3002 hex), refer to Realtime Autotuning Mode
Selection on page 9-4.
Explanation of Settings
Bit
0 to 1 Load characteristic
estimation
2 to 3 Mass ratio updating
4 to 6 Force compensation
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Unit
Access
Mode
Stops load estimation.
Estimates every minute from the load characteristic changes.
Estimates every second from the load characteristic changes.
Estimates the optimum from the load characteristic changes.
Unit
Access
Name
Select to enable or disable load characteristic estimation.
*1
0: Disabled
1: Enabled
Select whether to update the present set value of the Mass Ratio (3004 hex)
with the load characteristic estimation result.
0: Use the present set value.
1: Update with the estimation result.
Select whether to update the Force Command Value Offset (3607 hex),
Positive Direction Force Offset (3608 hex), or Negative Direction Force Offset
(3609 hex) value with the load characteristic estimation result.
0: Use the present set value.
1: Disable the force compensation. Clear the above three objects to zero.
2: Unbalanced load. Update 3607 hex. Clear 3608 hex and 3609 hex to zero.
3: Friction compensation (small). Update 3607 hex. Set a small
compensation to 3608 hex and 3609 hex.
4: Friction compensation (intermediate). Update 3607 hex. Set an
intermediate compensation in 3608 hex and 3609 hex.
5: Friction compensation (large). Update 3607 hex. Set a large
compensation in 3608 hex and 3609 hex.
9 Servo Parameter Objects
– Default
setting
RW
Description
– Default
setting
RW
Description
A l l
1 Data
attribute
PDO map Not possible
A l l
0 Data
attribute
PDO map Not possible
9 - 51
B
B
9