9-41
9-7 Special Objects
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9
Details on Servo Parameter Objects
 Set the speed to estimate the load characteristic while the realtime autotuning is enabled.
 The higher the set value is, the earlier the load characteristic change is followed, but the estimated
variation against the disturbance becomes greater.
 The estimated results is updated in every 30 minutes and saved in EEPEOM.
 Refer to 11-3 Realtime Autotuning on page 11-6.
Explanation of Set Values
 Set the details of the autotuning function when the Realtime Autotuning Mode Selection (3002
hex) is set to 6.
 Refer to 11-3 Realtime Autotuning on page 11-6.
Explanation of Set Values
3631 hex
Realtime Autotuning Estimated Speed Selection
Setting
range
0 to 3 Unit −
Default
setting
0
Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
All
Set
value
Mode Description
0 No change Stops load estimation.
1 Little change Estimates every minute from the load characteristic changes.
2 Gradual change Estimates every second from the load characteristic changes.
3 Sharp change Estimates the optimum from the load characteristic changes.
3632 hex
Realtime Autotuning Customization Mode Setting
Setting
range
−32768 to 32767 Unit −
Default
setting
0
Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
All
Bit Name Description
0 to 1
Load characteristic
estimation
*1
Select to enable or disable load characteristic estimation.
0: Disable
1: Enable
2 to 3 Inertia ratio updating
Select whether to update the present set value of the Inertial
Ratio (3004 hex) with the load characteristic estimation result.
0: Use the present set value.
1: Update with the estimation result.
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