Omron ACCURAX G5 User Manual page 474

10-2 Realtime Autotuning
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 (Pn003) is increased. This is not an error if it disappears right away. If
the unusual noise or vibration, however, continues for 3 or more reciprocating operations, take the
following measures in any order you can.
Once unusual noise or vibration occurs, Inertia Ratio (Pn004), Torque Command Value Offset
(Pn607), Forward Direction Torque Offset (Pn608), and Reverse Direction Torque Offset (Pn609)
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 (Pn004), Torque Command Value Offset
(Pn607), Forward Direction Torque Offset (Pn608) and Reverse Direction Torque Offset (Pn609)
are automatically saved to the EEPROM every 30 minutes. Realtime autotuning will use this
saved data as the default setting when the power supply is turned OFF and turned ON again.
The parameter will automatically be set based on the Realtime Autotuning Machine Rigidity
Setting (Pn003) if realtime autotuning is enabled.
10
10-6
Precautions for Correct Use
? Write the parameters used during normal operation to the EEPROM.
? Lower the Realtime Autotuning Machine Rigidity Selection (Pn003).
? Manually set the notch filter.
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL