Omron R88D-GT series, User Manual

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7-4
7-2 Realtime Autotuning
7
Adjustment Functions
7-2 Realtime Autotuning
Realtime autotuning estimates the load inertia of the machine in realtime, and automatically sets the
optimal gain according to the estimated load inertia.
Realtime autotuning can be applied to all control modes.
• Realtime autotuning may not function properly under the conditions
described in the following table. If realtime autotuning does not function
properly, use normal mode autotuning or manual tuning.
Conditions under which realtime autotuning does not function properly
Load inertia
•
If the load inertia is too small or too large compared with the rotor inertia (i.e., less
than 3 times, more than 20 times, or more than the applicable load inertia ratio).
•
If the load inertia changes quickly, i.e., in less than 10 seconds.
Load
• If the machine rigidity is extremely low.
•
If there is backlash or play in the system.
Operating
pattern
• If the speed is continuously run at a low speed below 100 r/min.
•
If the acceleration/deceleration gradually changes at less than 2,000 r/min in 1 s.
• If the acceleration/deceleration torque is too small compared with the unbalanced
load and the viscous friction torque.
• If a speed of 100 r/min or an acceleration/deceleration of 2,000 r/min/s does not
continue for at least 50 ms.
Operation commands for
actual conditions of use
Position/speed
command
Position/speed
control
Servo Drive
Realtime autotuning
Estimated resonance frequency
Estimated load inertia
Current
control
Torque
command
Servo-
motor
current
Servomotor
speed
Servo-
motor
Encoder
Adaptive
filter
Automatic filter
adjustment
Automatic gain
adjustment
Precautions
for Correct Use