Omron R88D-KN ML2 Sries User Manual page 303

Pn002
REALTIME AUTOTUNING mode Selection
Setting
0 to 6
range
 Set the OPERATING mode for realtime autotuning.
 Refer to "10-3 Realtime Autotuning (P.10-6)".
Explanation of Set Values
Set
value
0 Disabled
1 This mode focuses on stability.
This mode focuses on positioning.
It is used for a horizontal axis, for example, which has only a small friction without any load
2 unbalance, such as for a ball screw drive.
In the speed control or the torque control, it is same as the set value 1 which focuses on
stability.
This mode focuses on positioning.
3 It is used for a vertical axis which has unbalanced load.
In the torque control, it is same as the set value 1 which focuses on stability.
Used when friction is large.
It shortens the positioning stabilization time when the friction is large, such as for a belt drive.
4
In the speed control, it is same as the set value 3. In the torque control, it is same as the set
value 1.
5 It is used for a vertical axis which has a large friction and unbalanced load.
It is used for customizing the realtime autotuning function by the REALTIME AUTOTUNING
6
CUSTOMIZATION mode Setting (Pn632).
Pn003
Realtime Autotuning Machine Rigidity Setting
Setting
0 to 31
range
*1.It is 11 for a Drive with 200 V and 1 kW or greater, or for a Drive with 400 V.
 Set the machine rigidity to one of 32 levels when realtime autotuning is enabled.
 The higher the machine rigidity set value is, the higher the responsiveness is. However, the more
vibration occurs.
 Refer to "10-3 Realtime Autotuning (P.10-6)".
Precautions for Correct Use
 If the set value is changed suddenly by a large amount, the gain may change rapidly, subjecting
the machine to shock. Always start with the small setting, and gradually increase the setting while
monitoring machine operation.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Unit
Unit
←Machine rigidity→
Low
←Servo gain→
Low
Pn003 0.1 - - - - - - - - - - - - - - - 31
←Responsiveness→
Low
8-1 Basic Parameters
Default

setting
Description
Default

setting
High
High
High
All
Data
1 B
attribute
All
Data
*1
13 B
attribute
8-2
8