11 Adjustment Functions
11 - 36
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
1
Set the Mass Ratio (3004 hex).
Set the Mass ratio as correctly as possible.
• If the Mass Ratio (3004 hex) is obtained in realtime autotuning, use the set value.
• If the mass ratio is calculated in load calculation etc., input the calculated value.
• If the mass ratio is not known, perform autotuning and set the result in the Mass Ratio
(3004 hex).
2
Adjust the Position Loop Gain 1 (3100 hex), Speed Loop Gain 1 (3101 hex), Speed Loop
Integral Time Constant 1 (3102 hex), and Force Command Filter Time Constant 1
(3104 hex) settings.
If no problem occurs in realtime autotuning, you can continue to use the settings.
3
Set the Function Expansion Setting (3610 hex).
• Set whether to enable or disable the instantaneous speed observer function in bit 0.
If you set this to 1 (enabled), the speed detection method switches to instantaneous speed
observer.
• If fluctuations in the force waveform or the operation noise increase significant enough to
cause a problem, return the setting to 0 and make sure that the mass ratio or the adjustment
objects are correct.
• If fluctuations in the force waveform or the operation noise decrease, make small adjustments
to the Mass Ratio (3004 hex) to find the setting that makes the smallest fluctuations while
monitoring the Following Error Actual Value waveform and the actual speed waveform.
• If Position Loop Gain 1 (3100 hex), Speed Loop Gain 1 (3101 hex), or Speed Loop Integral
Time Constant 1 (3102 hex) is changed, the optimal value for the Mass Ratio (3004 hex) may
change, so make small adjustments to the value of the Mass Ratio (3004 hex) again to set a
value that makes the smallest fluctuations.
11-11-2 Objects Requiring Settings
Index Name Description Reference
3004 hex Mass Ratio Set The Mass Ratio. P. 9-5
3100 hex Position Loop Gain 1 Set The Position Loop Gain 1. P. 9-7
3101 hex Speed Loop Gain 1 Set The Speed Loop Gain 1. P. 9-8
3610 hex Function Expansion Setting, Set whether to enable or disable the instantaneous
observer function.
P. 9-48
11-11-3 Operating Procedure
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