11-7
11-3 Realtime Autotuning
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11
Adjustment Functions
Objects Requiring Settings
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 a vertical axis is used.
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.
Index Name Explanation Reference
3002 hex
Realtime Autotuning
Mode Selection
Set the operation mode for the realtime autotuning.
page 9-2
3003 hex
Realtime Autotuning
Machine Rigidity Setting
Set the responsiveness when the realtime autotuning is
enabled.
page 9-2
3631 hex
Realtime Autotuning
Estimated Speed
Selection
Set the speed to estimate the load characteristic when the
realtime autotuning is enabled. page 9-41
3632 hex
Realtime Autotuning
Customization Mode
Setting
Make detailed settings for the autotuning function, when the
customized mode (3002 hex = 6) is selected in the Realtime
Autotuning Mode Selection (3002 hex).
page 9-41
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
Used for a horizontal axis or others that have no
unbalanced load, or for a ball screw drive with little friction.
3 Vertical axis
Used when unbalanced load is present, i.e., with a vertical
axis, etc.
4
Friction compensation and
vertical axis
Used when a vertical axis or other unbalanced load is
present and when friction is large.
Used for a belt-driving shaft with large friction. Variations in
finalizing the positioning are suppressed.
5 Load characteristic estimation Used only for estimating load characteristics.
6 Customization
Detailed customization can be set in the Realtime
Autotuning Customization Mode Setting (3632 hex).
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