Omron OMNUC G5, User Manual, Page: 367 / 550

8-2
8-1 Basic Parameters
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8
Parameters Details
Explanation of Set Values
Œ
Set the OPERATING mode for realtime autotuning.
Œ
Set the machine rigidity to one of 32 levels when realtime autotuning is enabled.
Œ
If the set value is changed suddenly by a large amount, the gain will change rapidly, subjecting
the machine to shock. Always start with the small setting, and gradually increase the setting while
monitoring machine operation.
Œ
Set the load inertia as a percentage of the motor rotor inertia.
Œ
Pn004 = (Load inertia / Rotor inertia)
×
100%
Œ
When realtime autotuning is enabled, the inertia ratio is continuously estimated and saved in
EEPROM every 30 minutes.
Œ
If the inertia ratio is set correctly, the setting unit for the Speed Loop Gain (Pn101) and Speed Loop
Gain 2 (Pn106) is Hz.
Œ
If the Inertia Ratio (Pn004) is set larger than the actual value, the setting for speed loop gain will
increase. If the Inertia Ratio (Pn004) is set smaller than the actual value, the setting for speed loop
gain will decrease.
Pn002
REALTIME AUTOTUNING mode Selection
Setting
range
0 to 6 Unit
−
Default
setting
0
Power OFF
and ON
−
All
Set
value
Explanation
0 Disabled
1 This mode focuses on stability.
2 This mode focuses on positioning.
3 Used when unbalanced load is present to vertical axis, etc.
4 Used when friction is large.
5 Used when unbalanced load is present such as vertical axis and when friction is large.
6
Used when freely combining REALTIME AUTOTUNING mode and APPLICABLE FILTER
mode.
Pn003
Realtime Autotuning Machine Rigidity Setting
Setting
range
0 to 31 Unit
−
Default
setting
2
Power OFF
and ON
−
All
Low
Low
Low
←
Machine rigidity
→
←
Servo gain
→
←
Responsiveness
→
High
High
High
0.1 - - - - - - - - - - - - - - - 31 Pn003
Pn004
Inertia Ratio
Setting
range
0 to 10,000 Unit %
Default
setting
300
Power OFF
and ON
−
All