Operating Conditions - Omron R88D-KN01L-ECT-L User Manual

11 Adjustment Functions

11-3-1 Operating Conditions

Realtime autotuning works under the following conditions.
Operation mode
Others
*1 For details, refer to Realtime Autotuning Mode Selection on page 9-4
Precautions for Correct Use Precautions for Correct Use
• Realtime autotuning may not function properly under the conditions described in the following
table.
In such cases, change the load condition or the operating pattern, or use manual tuning.
Load
condition
Operation
pattern
• The force feed-forward function cannot be used when realtime autotuning is being used. Set
both the Force Feed-forward Gain (3112 hex) and Force Feed-forward Command Filter
(3113 hex) to 0.
11-3-2 Objects Requiring Settings
Index
3002 hex Realtime Autotuning Mode
Selection
3003 hex Realtime Autotuning Machine
Rigidity Setting
3631 hex Realtime Autotuning Estimated
Speed Selection
3632 hex Realtime Autotuning
Customization Mode Setting
11 - 8
The available realtime autotuning mode varies depending on the control mode.
• When Servo is ON.
• When elements other than control objects, such as the force limit settings, are set
correctly and there is no trouble with the motor's normal operation.
• Mass ratio estimation operation is disabled when magnetic pole position estimation is
in progress.
Conditions under which realtime autotuning does not operate properly
• If the load mass is too small or too large compared with the Motor Coil Unit Mass
(less than 3 times, or more than 20 times or more).
• If the load mass changes.
• If the machine rigidity is extremely low.
• If there is non-linear characteristics, such as a backlash.
• If the speed continues at below 100 [mm/s].
• If the acceleration/deceleration is below 2,000 [mm/s] in 1 [s].
• If either a speed of 100 [mm/s] or higher, or an acceleration/deceleration of 2,000
[mm/s] or higher in 1 [s] does not last for at least 50 [ms].
• If the acceleration/deceleration force is too small compared with the unbalanced
load and the viscous friction force.
Name
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Operating conditions
Description
Set the operation mode for the realtime autotuning.
Set the responsiveness when the realtime
autotuning is enabled.
Set the speed to estimate the load characteristic
while the realtime autotuning is enabled.
Make detailed settings for the autotuning function,
when 6: the customized mode is selected in the
Realtime Autotuning Mode Selection (3002 hex).
*1
Reference
P. 9-4
P. 9-4
P. 9-51
P. 9-51