Omron OMNUC G5 Series User Manual page 320

9-7 Special Objects
Realtime Autotuning Estimated Speed Selection
3631 hex
Setting
range
Size
Set the speed to estimate the load characteristic while the realtime autotuning is enabled.
The higher the set value is, the earlier the load characteristic change is followed, but the estimated
variation against the disturbance becomes greater.
The estimated results is updated in every 30 minutes and saved in EEPEOM.
Refer to 11-3 Realtime Autotuning on page 11-6.
Explanation of Set Values
value
Real time Autotuning Customization Mode Setting
3632 hex
Setting
range
Size
Set the details of the autotuning function when the Realtime Autotuning Mode Selection (3002
9
hex) is set to 6.
Refer to 11-3 Realtime Autotuning on page 11-6.
Explanation of Set Values
0 to 1
2 to 3
9-41
0 to 3 Unit
2 bytes (INT16)
Set
Mode
0 No change
1 Little change
2 Gradual change
3 Sharp change
−32768 to 32767
Unit
2 bytes (INT16)
Bit Name
Load characteristic
*1
estimation
Inertia ratio updating
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Default
−
setting
Access RW
Description
Stops load estimation.
Estimates every minute from the load characteristic changes.
Estimates every second from the load characteristic changes.
Estimates the optimum from the load characteristic changes.
Default
−
setting
Access RW
Description
Select to enable or disable load characteristic estimation.
0: Disable
1: Enable
Select whether to update the present set value of the Inertial
Ratio (3004 hex) with the load characteristic estimation result.
0: Use the present set value.
1: Update with the estimation result.
All
Data
0 B
attribute
PDO map Not possible.
All
Data
0 B
attribute
PDO map Not possible.