Omron OMNUC R88D-WT15HF User Manual page 365

Operation
H Online Auto-tuning Procedure
• Use the following procedure when using the online auto-tuning function.
Note If the online auto-tuning is set to be always enabled, the Servomotor may become unstable due to
extreme vibration when the load fluctuates. It is recommended that you perform online auto-tun-
ing once, write the results (inertia ratio) to the user parameters, then run the operation with the
online auto-tuning turned OFF.
Set the online auto-tuning target rigidity (Fn001).
Set online auto-tuning to be always enabled (Pn110.0 = 1).
Turn ON the power (to enable the parameter settings).
Run the operation with a normal operating pattern and load.
Operating properly?
If an error occurs, reset the rigidity (Fn001)
and perform the operation again.
Operating properly?
If an error occurs, set the viscous friction compensation
(Pn110.2 = 1 or 2). (See note 1.)
Turn ON the power (to enable the parameter settings),
then perform the operation.
Operating properly?
If an error occurs, stop the operation and
adjust the gain manually.
Set the online auto-tuning to be always OFF (Pn110.0 = 2).
Note 1. Determine the suitable parameter setting using the torque commands within a constant ve-
locity range (Un002).
Note 2. For System Check Mode operations, refer to 4-11-2 Online Auto-Tuning Related Functions.
4-102
Start
Y
N
Y
N
Y
N
End
Refer to the next page for target rigidity.
If no errors occur, stop the operation,
and store the auto-tuning results (Fn007).
Chapter 4