9-3
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
Refer to 11-3 Realtime Autotuning on page 11-6.
Precautions for Correct Use
If the set value is changed suddenly by a large amount, the gain may change rapidly, subjecting
the machine to shock. Always start with a small setting, and gradually increase the setting while
monitoring machine operation.
Set the load inertia as a percentage of the motor rotor inertia.
3004 hex = (Load inertia/Rotor inertia) × 100%
When realtime autotuning is enabled, the inertia ratio is continuously estimated and saved in
EEPROM every 30 minutes.
If the inertia ratio is set correctly, the setting unit for the Speed Loop Gain 1 (3101 hex) and Speed
Loop Gain 2 (3106 hex) is Hz.
If the Inertia Ratio (3004 hex) is set larger than the actual value, the setting for speed loop gain will
increase. If the Inertia Ratio (3004 hex) is set smaller than the actual value, the setting for speed
loop gain will decrease.
Set the operating method for the 17-bit absolute encoder.
Explanation of Set Values
3004 hex
Inertia Ratio
Setting
range
0 to 10,000 Unit %
Default
setting
250
Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3015 hex
Operation Switch when Using Absolute Encoder
Setting
range
0 to 2 Unit −
Default
setting
2
Data
attribute
C
Size 2 bytes (INT16) Access RW PDO map Not possible.
Low
Low
Low
←Machine rigidity→
←
Servo gain
→
←Responsiveness→
High
High
High
0.1 - - - - - - - - - - - - - - - 31 3003h
All
csp
Set value Description
0 Use as absolute encoder.
1 Use as incremental encoder.
2 Use as absolute encoder but ignore multi-rotation counter overflow.
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