Setting Machine Rigidity - Omron R88M-K Series User Manual

Setting Machine Rigidity

1. Set the Realtime Autotuning Machine Rigidity Setting (3003 hex) according to the
table below.
Start from the lower machine rigidity number and check the operation.
Machine configuration and drive method
Ball screw direct coupling
Ball screw and timing belt
Gears, rack and pinion drive
Other machines with low rigidity
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
After startup, immediately after the first servo ON, or when the Realtime Autotuning Machine
Rigidity Setting (3003 hex) is increased, unusual noise or vibration may occur until the load inertia
is estimated or the adaptive filter stabilizes. This is not an error if it disappears right away. If the
unusual noise or vibration, however, continues for 3 or more reciprocating operations, take the
following measures in any order you can.
• Write the objects used during normal operation to the EEPROM.
• Lower the Realtime Autotuning Machine Rigidity Setting (3003 hex).
• Manually set the notch filter.
Once unusual noise or vibration occurs, Inertia Ratio (3004 hex), Torque Command Value Offset
(3607 hex), Forward Direction Torque Offset (3608 hex), and Reverse Direction Torque Offset
(3609 hex) may have changed to an extreme value. In this case, also take the measures
described above.
Out of the results of realtime autotuning, the Inertia Ratio (3004 hex), Torque Command Value
Offset (3607 hex), Forward Direction Torque Offset (3608 hex) and Reverse Direction Torque
Offset (3609 hex) 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.
The object is automatically set based on the Realtime Autotuning Machine Rigidity Setting (3003
hex) if realtime autotuning is enabled.
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Timing belt
Stacker cranes
11-3 Realtime Autotuning
Realtime Autotuning
Machine Rigidity Setting (3003 hex)
12 to 24
8 to 20
4 to 16
4 to 16
1 to 8
Perform manual tuning.
11
11-8