Omron R88D-KN series User Manual

11-7
11 Adjustment Functions
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
11-3 Realtime Autotuning
11
11-3-1 Operationg Conditions
11-3 Realtime Autotuning
Realtime autotuning estimates in realtime the load characteristic according to the motor speed and the
force command and operates the machine by automatically setting the gain according to the result of
the estimation. At the same time, it can lower the resonance and vibration if the adaptive filter is
enabled.
Realtime autotuning is enabled for any control to adjust the speed loop PI control.
Refer to 11-6 Adaptive Filter on page 11-20 for details about adaptive filters.
Realtime autotuning works under the following conditions.
*1 For details, refer to Realtime Autotuning Mode Selection on page 9-4.
11-3-1 Operationg Conditions
Operationg conditions
Operating mode The available realtime autotuning mode varies depending on the control mode.
Others • When Servo is ON.
• When elements other than control objects, such as the force limit settings, are set
correctly and there is no trouble with the motor's normal operation.
• Mass ratio estimation operation is disabled when magnetic pole position estimation is in
progress.
Position/Speed
command
Position/
Speed
control
Force
command
Motor
Notch
Filter
Generate
Position
Command
Current
control
Load
characteristic
estimation
Resonance
frequency
measurement
Motor
current
External encoder
Motor speed

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English