Setting Machine Rigidity - Omron R88D-KN01L-ECT-L User Manual

11 Adjustment Functions

11-3-4 Setting Machine Rigidity

1
Set the Realtime Autotuning Machine Rigidity Setting (3003 hex).
Start from the lower machine rigidity number and check the operation.
2
Turn the servo ON and operate the machine with a normal pattern.
To increase responsiveness, increase the machine rigidity number, and check the response. If
vibration occurs, enable the adaptive filter and operate. If already enabled, lower the machine
rigidity number.
3
If there are no problems with the operation, turn the servo OFF and set the Realtime
Autotuning Mode Selection (3002 hex) to 0 (disabled).
The adaptive filter can be left enabled even if realtime autotuning is disabled after the
completion of adjustments. Even if the adaptive filter is disabled, the settings of notch filters 3
and 4 are held.
Precautions for Correct Use Precautions for Correct Use
• With realtime autotuning, each object is fixed to the value in the machine rigidity table at the
time the machine rigidity is set. By estimating the mass ratio from the operation pattern, the
operation coefficient for the speed loop gain and the integral time constant are altered. Doing
this for each pattern can cause vibration, so the estimation value is set conservatively.
• An unusual noise or vibration may occur until load characteristic estimation is stabilized after
startup, immediately after the first servo ON, or when the Realtime Autotuning Machine
Rigidity Setting (3003 hex) is increased. This is not a problem if the noise or vibration
disappears right away. If vibration occurs, or if an unusual noise lasts for three or more
reciprocating operations, however, take the following measures.
• Lower the Realtime Autotuning Machine Rigidity Setting (3003 hex).
• Set the Realtime Autotuning Mode Selection (3002 hex) to 0 to disable the realtime
autotuning function.
• Set the Mass Ratio (3004 hex) to the value calculated for the equipment and the Force
Command Value Offset (3607 hex), Positive Direction Force Offset (3608 hex), or Negative
Direction Force Offset (3609 hex) to 0.
• Once unusual noise or vibration occurs, the Mass Ratio (3004 hex) value and the Force
Command Value Offset (3607 hex), Positive Direction Force Offset (3608 hex), or Negative
Direction Force Offset (3609 hex) value may have changed to extreme values. In this case,
also take the measures described above.
• Out of the results of realtime autotuning, the Mass Ratio (3004 hex), Force Command Value
Offset (3607 hex), Positive Direction Force Offset (3608 hex) and Negative Direction Force
Offset (3609 hex) values are automatically saved to the EEPROM every 30 minutes. Realtime
autotuning uses this saved data as the default settings when the power supply is turned ON
again.
However, if the power supply is turned OFF before the 30-minute period elapses, the results of
realtime autotuning are not saved. In this case, you need to manually write the object settings
to the EEPROM and turn OFF the power supply.
• The object is automatically set based on the Realtime Autotuning Machine Rigidity Setting
(3003 hex) if realtime autotuning is enabled.
11 - 10 G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications