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9 Adjustment Functions
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
9-2 Realtime Autotuning
9
9-2-1 Setting Realtime Autotuning
1
When setting realtime autotuning, turn the servo OFF.
2
Set Realtime Autotuning Mode Selection (Pn002) depending on the load.
Normally, set this parameter to 1 or 2. Use a setting of 3 or 4 when a vertical axis is used. A
setting of 5 is used in combination with a software tool. Do not set the parameter to 5 for normal
operation.
Gain switching function is enabled for set values 2 to 6. Setting a value between 2 and 6 sets
Switching Mode in Position Control (Pn115) to 10 (Combination of command pulse input and the
speed). The gain will be switched according to this switching condition.
For details about setting Switching Mode in Position Control (Pn115), refer to Gain Switching
Setting for Each Control Mode on page 6-30.
1
Set Realtime Autotuning Machine Rigidity Setting (Pn003) according to the table below.
Start from the lower machine rigidity number and check the operation.
2
Turn the servo ON and operate the machine with a normal pattern.
To increase responsiveness, increase the machine rigidity number and check the response. If
vibration occurs, enable the adaptive filter and operate the machine. If already enabled, lower
the machine rigidity number.
• The adaptive filter can be left enabled when realtime autotuning is disabled after the
completion of adjustments.
Even if the adaptive filter is disabled, the set values of notch filters 3 and 4 are held.
9-2-1 Setting Realtime Autotuning
Set
value
Realtime autotuning Description
0 Disabled Realtime autotuning is disabled.
1 Focus on stability
(default setting)
No unbalanced load or friction compensation, nor gain
switching.
2 Focus on positioning Used when there is a small unbalanced load or friction.
3 Vertical axis Used when unbalanced load is present, i.e., with a vertical
axis, etc.
4 Friction compensation and vertical
axis
Used when a vertical axis or other unbalanced load is present
and when friction is large.
5 Load characteristic estimation Used only for estimating load characteristics.
6 Customization Used for customizing the realtime autotuning mode.
9-2-2 Setting Machine Rigidity
Machine configuration and drive method
Realtime Autotuning
Machine Rigidity Setting (Pn003)
Ball screw direct coupling 12 to 24
Ball screw and timing belt 8 to 20
Timing belt 4 to 16
Gears, rack and pinion drive 4 to 16
Other machines with low rigidity 1 to 8
Stacker cranes Perform manual tuning.
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