Omron SMARTSTEP 2 R88M-G Series User Manual page 280

7-3 Autotuning
4. Selecting Machine Rigidity

Press the Increment or Decrement key to select the machine rigidity number.
 The machine rigidity number sets the machine rigidity, and can be set to a value from 0 to F hex.
 The greater the machine rigidity, the higher the machine rigidity number is. The higher the machine
rigidity is set, the higher the gain can be set.
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 Under normal conditions, set the machine rigidity gradually from a low level in autotuning. Set the
value in a range where an unusual noise, oscillation, and vibration do not occur.
5. Moving to Autotuning Mode
 After setting the machine rigidity, press the Data key to move to Autotuning Mode. (For details,
refer to Autotuning Mode on page 6-16.)
6. Turning ON the Servo
 Turn ON the RUN Command Input (RUN). The Servo will turn ON.
7. Executing Autotuning
 Press and hold the Increment key until
Mode on page 6-16.)
 The Servomotor will rotate and autotuning will begin. The operating pattern depends on the
Autotuning Operation Setting (Pn25). If Pn25 is set to 0, the Servomotor will rotate two times in
7-9
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Machine rigidity No.
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Reference Machine Rigidity Number Setting by Machine Drive System
Ball screw direct coupling
Gear, rack and pinion drive
Machine with low rigidity, etc.
Machine rigidity numbers D to F can be used for machines with no
resonance, high rigidity, and a low inertia ratio.
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Autotuning Mode
Autotuning Mode Display
Lowest machine rigidity
Highest machine rigidity
Drive system
Ball screw + timing belt
Timing belt
is displayed. (For details, refer to Autotuning
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Machine rigidity No.
6 to C
4 to A
2 to 8
2 to 8
0 to 4