Realtime Autotuning - Omron R88D-KN01L-ECT-L User Manual

11-3 Realtime Autotuning

Realtime autotuning estimates in realtime the load characteristic according to the motor speed and the
force command and operates the machine by automatically setting the gain according to the result of
the estimation. At the same time, it can lower the resonance and vibration if the adaptive filter is
enabled.
Realtime autotuning is enabled for any control to adjust the speed loop PI control.
Refer to 11-6 Adaptive Filter on page 11-21 for details about adaptive filters.
Position/Speed
command
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Position/
Notch
Speed
Filter
control
11 Adjustment Functions
Force
Generate
command
Current
position
control
command
Load
characteristic
estimation
Resonance
frequency
measurement
Motor
current
Motor
Motor speed
External encoder
11 - 7
11