Omron ACCURAX G5 User Manual page 369

Pn002
REALTIME AUTOTUNING mode Selection
Setting
0 to 6
range
Explanation of Set Values
Set
value
0 Disabled
1 This mode focuses on stability.
2 This mode focuses on positioning.
3 Used when unbalanced load is present as in vertical axes
4 Used when friction is large (unbalanced load also calculated).
Used in combination with the software tool. The drive calculates the correction and the user
5
decides whether to apply them or not.
Used when freely combining REALTIME AUTOTUNING mode and APPLICABLE FILTER
6
mode.
See Chapter 10 for details.
Pn003
Realtime Autotuning Machine Rigidity Setting
Setting
0 to 31
range
Default settings:
(1) Pn003 = 11 - For 200V drives of 1Kw or upper and 400V drives
(2) Pn003 = 13 - For 200V drives of less than 1 Kw
Set the machine rigidity to one of 32 levels when realtime autotuning is enabled.
If the set value is changed suddenly by a large amount, the gain will change rapidly, subjecting
the machine to shock. Always start with the small setting, and gradually increase the setting while
monitoring machine operation.
Pn004
Inertia Ratio
Setting
0 to 10,000
range
Set the load inertia as a percentage of the motor rotor inertia.
Pn004 = (Load inertia / Rotor inertia) × 100%
When realtime autotuning is enabled, the inertia ratio is continuously estimated and saved in
EEPROM every 30 minutes.
If the inertia ratio is set correctly, the setting unit for the Speed Loop Gain (Pn101) and Speed Loop
Gain 2 (Pn106) is Hz.
If the Inertia Ratio (Pn004) is set larger than the actual value, the setting for speed loop gain will
increase. If the Inertia Ratio (Pn004) is set smaller than the actual value, the setting for speed loop
gain will decrease.
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
−
Unit
−
Unit
←Machine rigidity→
Low
←Servo gain→
Low
Pn003 0.1 - - - - - - - - - - - - - - - 31
←Responsiveness→
Low
Unit %
8-1 Basic Parameters
Default
1
setting
Explanation
See
Default
Note
setting
below
High
High
High
Default
250
setting
All
Power OFF
−
and ON
All
Power OFF
−
and ON
8
All
Power OFF
−
and ON
8-3