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10-7
10-3 Realtime Autotuning
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10
Adjustment Functions
Parameters Requiring Settings
Setting Realtime Autotuning
1. When setting realtime autotuning, turn the servo OFF.
2. Set REALTIME AUTOTUNING mode Selection (Pn002) depending on the load.
When the value is set to 3 or 5, the response is fast for a change in inertia during operation.
Operation, however, may be unstable depending on the operating pattern. Normally, set the
parameter to 1 or 4.
Use a setting of 3 or 5 when the vertical axis is used.
Gain switching function is enabled for set values 2 to 6.
Parameter
number
Parameter name
Explanation
Reference
Pn002
REALTIME
AUTOTUNING mode
Selection
Set the operation mode for the realtime autotuning.
Pn003
Realtime Autotuning
Machine Rigidity Setting
Set the responsiveness when the realtime autotuning is
enabled.
Pn631
Realtime Autotuning
Estimated Speed
Selection
Set the load characteristic estimated speed, when the
realtime autotuning is enabled.
Pn632
REALTIME
AUTOTUNING
CUSTOMIZATION
mode Setting
Make the detailed setting for the autotuning function, when
the customized mode (6) is selected on the REALTIME
AUTOTUNING mode Selection (Pn002).
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 for a horizontal axis or others which has no
unbalanced load, or for a ball screw drive with little friction.
3
Vertical axis
*2
Used when unbalanced load is present to vertical axis, etc.
4
Friction compensation
*3
Used when friction is large.
Used for a belt driving shaft with large friction. Variations in
finalizing the positioning are narrowed.
5
Friction compensation and
Vertical axis
Used when unbalanced load is present on the vertical axis
or the like and when friction is large.
6
Customization
*4
Detailed customization can be set on the REALTIME
AUTOTUNING CUSTOMIZATION mode Setting (Pn632).
*1.In speed controls or torque controls, this will be 1: Focus on stability.
*2. In torque controls, this will be 1: Focus on stability.
*3.In speed controls, this will be 3: Vertical axis. In torque controls, this will be 1: Focus on stability.
*4.In some control modes, some functions are not available. Refer to the Realtime Autotuning
Customization Mode Selection (Pn632) in “8-7 Special Parameters”.