Omron OMNUC G5 Series User Manual page 22

Table Of Contents
Chapter 10Operation
10-1 Operational Procedure......................................................................... 10-1
10-2 Preparing for Operation ....................................................................... 10-2
Items to Check Before Turning ON the Power Supply .............................................. 10-2
Turning ON the Power Supply ................................................................................... 10-3
Checking the Displays ............................................................................................... 10-4
Absolute Encoder Setup ............................................................................................ 10-6
Setting Up an Absolute Encoder from the CX-Drive.................................................. 10-6
10-3 Trial Operation ..................................................................................... 10-7
Preparations for Trial Operation ................................................................................ 10-7
Test Operation via USB Communications from the CX-Drive ................................... 10-8
Chapter 11Adjustment Functions
11-1 Analog Monitor..................................................................................... 11-1
Objects Requiring Settings ........................................................................................ 11-1
11-2 Gain Adjustment .................................................................................. 11-4
Purpose of the Gain Adjustment................................................................................ 11-4
Gain Adjustment Methods ......................................................................................... 11-4
Gain Adjustment Procedure ...................................................................................... 11-5
11-3 Realtime Autotuning ............................................................................ 11-6
Objects Requiring Settings ........................................................................................ 11-7
Setting Realtime Autotuning ...................................................................................... 11-7
Setting Machine Rigidity ............................................................................................ 11-8
11-4 Manual Tuning ................................................................................... 11-13
Basic Settings.......................................................................................................... 11-13
11-5 Damping Control................................................................................ 11-15
Outline of Operation ................................................................................................ 11-15
Objects Requiring Settings ...................................................................................... 11-15
11-6 Adaptive Filter.................................................................................... 11-18
Objects Requiring Settings ...................................................................................... 11-19
Operating Procedure ............................................................................................... 11-20
11-7 Notch Filters....................................................................................... 11-21
Objects Requiring Settings ...................................................................................... 11-22
11-8 Disturbance Observer Function ......................................................... 11-24
Operating Conditions............................................................................................... 11-24
Objects Requiring Settings ...................................................................................... 11-25
Operating Procedure ............................................................................................... 11-25
11-9 Friction Torque Compensation Function............................................ 11-26
Operating Conditions............................................................................................... 11-26
Objects Requiring Settings ...................................................................................... 11-26
Operation Example.................................................................................................. 11-27
11-10 Hybrid Vibration Suppression Function ............................................ 11-28
Operating Conditions............................................................................................... 11-28
Objects Requiring Settings ...................................................................................... 11-28
Operating Procedure ............................................................................................... 11-28
11-11 Feed-forward Function...................................................................... 11-29
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OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)