Omron OMNUC G Series User Manual page 390

7-2 Realtime Autotuning
Precautions
for Correct Use
7
7-5
 Unusual noise or vibration may occur until the load inertia is estimated or
the adaptive filter stabilizes after startup, immediately after the first servo
ON, or when the Realtime Autotuning Machine Rigidity Selection (Pn022)
is increased. This is not a problem if it disappears right away. If the unusual
noise or vibration, however, continues for three or more reciprocating
operations, take the following measures in any order you can.
 Write the parameters used during normal operation to the EEPROM.
 Lower the Realtime Autotuning Machine Rigidity Selection (Pn022).
 Manually set the notch filter.
 Once unusual noise or vibration occurs, the Inertia Ratio (Pn020) may
have changed to an extreme value. In this case, also take the measures
described above.
 Out of the results of realtime autotuning, the Inertia Ratio (Pn020) is
automatically saved to the EEPROM every 30 minutes. Realtime
autotuning will use this saved data as the default value when the power is
turned OFF and turned ON again.
 The Instantaneous Speed Observer Setting (Pn027) will automatically be
disabled (0) if realtime autotuning is enabled.