Omron OMNUC G5 Series User Manual page 321

Bit
4 to 6 Torque compensation
7 Rigidity setting
8 Fixed object settings
9 to 10 Gain switch setting
*1. When load characteristic estimation is disabled, inertial ratio updating is also disabled, even if the
latter is set to be updated with the estimation result. When torque compensation is updated with the
estimation result, load characteristic estimation is disabled.
Precautions for Safe Use
This object must be set in units of bits. Users must be fully aware that proper operation of your
system is not guaranteed, if you have incorrect object settings. Pay a particular attention when you
set them.
Reference
Procedure to Set the Object Bit by Bit
Follow these steps and calculate the set values, when you make any setting other than 0.
(1) Confirm the least significant bit (LSB) in each set value.
E.g. LSB of Torque compensation function: 4
(2) Multiply the set value by 2 to the power of the bit number of the LSB.
E.g. To set the torque compensation to Friction compensation (small): The set value is 3.
The exponent is 4.
4
× 3 = 48
2
(3) Repeat Step (1) and (2) for all bit settings. Add all results and set the outcome to 3632 hex.
E.g. When all of the Load characteristic estimation, the Inertia ratio updating, the Rigidity
setting, and the Gain switch setting are enabled, the Torque compensation is set to
Friction compensation (small), and the Fixed object setting is set to a Fixed value:
0
× 1 + 2
2
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Name
Select whether to update three objects, Torque Command Value
Offset (3607 hex), Forward Direction Torque Offset (3608 hex),
and Reverse Direction Torque Offset (3609 hex), with the load
characteristic estimation result.
0: Use the present set value.
1: Disable the torque compensation. Clear the above three
objects to zero.
2: Vertical mode. Update 3607h. Clear 3608 hex and 3609 hex
to zero.
3: Friction compensation (small). Update 3607 hex. Set a small
compensation to 3608h and 3609 hex.
4: Friction compensation (intermediate). Update 3607 hex. Set
an intermediate compensation in 3608 hex and 3609 hex.
5: Friction compensation (large). Update 3607h. Set a large
compensation in 3608 hex and 3609 hex.
Select to enable or disable the basic gain setting by the Realtime
Autotuning Machine Rigidity Setting (3003 hex).
0: Disable
1: Enable
Select whether to allow changes to the objects that normally are
fixed.
0: Use the present settings.
1: Set to fixed values.
Select the method to set the objects that relate to gain switching
while the realtime autotuning is enabled.
0: Use the present settings.
1: Disable gain switching.
2: Enable gain switching.
2 4 7 8
× 1 + 2 × 3 + 2 × 1 + 2
9-7 Special Objects
Description
9
× 1 + 2 × 2 = 1461
9
9-42