Omron R88D-KN series User Manual

11-9
11 Adjustment Functions
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
11-3 Realtime Autotuning
11
11-3-3 Setting Realtime Autotuning
1 When setting realtime autotuning, turn the servo OFF.
2 Set Realtime Autotuning mode Selection (3002 hex) depending on the load.
Normally, set the object to 1 or 2.
Use a setting of 3 or 4 when there is an unbalanced load.
A setting of 5 is used in combination with a software tool. Do not use it for normal operation.
Gain switching function is enabled for set values 2 to 6.
*1 The description for the set value 1 applies to the Speed Control/Force Control Mode.
*2 The description for the set value 1 applies to the Force Control Mode.
*3 The description for the set value 3 applies to the Speed Control; the description for the set value 1 applies to
the Force Control Mode.
1 Set the Realtime Autotuning Machine Rigidity Setting (3003 hex).
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. If already enabled, lower the machine
rigidity number.
3 If there are no problems with the operation, turn the servo OFF and set the Realtime Autotuning
Mode Selection (3002 hex) to 0 (disabled).
The adaptive filter can be left enabled even if realtime autotuning is disabled after the
completion of adjustments. Even if the adaptive filter is disabled, the settings of notch filters 3
and 4 are held.
11-3-3 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
*1
Used when there is no unbalanced load and a little friction.
3
Unbalanced load
*2
Used when there is an unbalanced load.
4 Friction compensation and
unbalanced load
*3
Used when there is an unbalanced load and a large friction.
Variations in the positioning stabilization time are suppressed
when friction is large.
5 Reserved Do not set any value.
6 Customization Customization can be set in the Realtime Autotuning
Customization Mode Setting (3632 hex).
11-3-4 Setting Machine Rigidity

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English