11 Adjustment Functions
11-8
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
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 4.
11-3-1 Objects Requiring Settings
Index Name Explanation Reference
3002 hex Realtime Autotuning Mode
Selection
Set the operation mode for the realtime autotuning. page 9-3
3003 hex Realtime Autotuning Machine
Rigidity Setting
Set the responsiveness when the realtime autotuning is
enabled.
page 9-4
3631 hex Realtime Autotuning Estimated
Speed Selection
Set the speed to estimate the load characteristic when
the realtime autotuning is enabled.
page 9-50
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 9-51
11-3-2 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 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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