Omron OMNUC G5 Series User Manual

9-2
9-1 Basic Settings
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9
Details on Servo Parameter Objects
 Set the control mode to be used.
Explanation of Set Values
*1 Set any value between 0 and 5 for semi-closed control.
 Set the operating mode for realtime autotuning.
 Refer to 11-3 Realtime Autotuning on page 11-6.
Explanation of Set Values
*1. The default setting 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.
3001 hex
Control Mode Selection
Setting
range
0 to 6 Unit −
Default
setting
0
Data
attribute
R
Size 2 bytes (INT16) Access RW PDO map Not possible.
All
Set value Description
0 to 5 Semi-closed control (position control)*1
6 Fully-closed control
3002 hex
Realtime Autotuning Mode Selection
Setting
range
0 to 6 Unit −
Default
setting
1
Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
All
Set
value
Realtime autotuning Description
0 Disabled Realtime autotuning is disabled.
1
Focus on stability
(default setting)
No unbalanced load, friction compensation, or gain switching.
2
Focus on position
control
Used for a horizontal axis or other axes that have no unbalanced
load, or for a ball screw drive with little friction.
3 Vertical axis Used when an unbalanced load is present, such as a vertical axis.
4
Friction
compensation and
vertical axis
Used when friction is large (unbalanced load also calculated).
Used for a belt-driving shaft with large friction. Variations in finalizing
the positioning are suppressed.
5
Load characteristic
estimation
Used only for estimating load characteristics.
6
Customization This mode is used for customizing the realtime autotuning function
by using the Realtime Autotuning Customization Mode Setting (3632
hex).
3003 hex
Realtime Autotuning Machine Rigidity Setting
Setting
range
0 to 31 Unit −
Default
setting
13
*1
Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
All

Omron OMNUC G5 Series Specifications

General

Brand	Omron
Model	OMNUC G5 Series
Category	Servo Drives
Language	English