11 - 9
11 Adjustment Functions
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
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 4. Enabling the conventional gain
switching function automatically sets the Switching Mode in Position Control (3115 hex) to 10
(Position command + Actual motor speed).
*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 Mode; the description for the set value 1
applies to the Force Control Mode.
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.
6 Customization Customization can be set in the Realtime Autotuning
Customization Mode Setting (3632 hex).
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