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11 Adjustment Functions
11-
8
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Precautions for Correct Use
Precautions for Correct Use
•
Realtime autotuning may not function properly under the conditions described in the following
table. In such cases, change the load condition or the operating pattern, or use manual tuning.
•
The force feed-forward function cannot be used when realtime autotuning is being used. Set
both the Force Feed-forward Gain (3112 hex) and Force Feed-forward Command Filter
(3113 hex) to 0.
Conditions that interfere with the realtime autotuning
Load condition
•
If the load mass is too small or too large compared with the Motor Coil Unit Mass
(less than 3 times, or more than 20 times or more).
•
If the load mass changes.
•
If the machine rigidity is extremely low.
•
If there is non-linear characteristics, such as a backlash.
Operation
pattern
•
If the speed continues at below 100 [mm/s].
•
If the acceleration/deceleration is below 2,000 [mm/s] in 1 [s].
•
If either a speed of 100 [mm/s] or higher, or an acceleration/deceleration of
2,000 [mm/s] or higher in 1 [s] does not last for at least 50 [ms].
•
If the acceleration/deceleration force is too small compared with the unbalanced
load and the viscous friction force.
11-3-2 Objects Requiring Settings
Index
Name
Explanation
Reference
3002 hex
Realtime Autotuning Mode
Selection
Set the operation mode for the realtime
autotuning.
3003 hex
Realtime Autotuning Machine
Rigidity Setting
Set the responsiveness when the realtime
autotuning is enabled.
3631 hex
Realtime Autotuning Estimated
Speed Selection
Set the speed to estimate the load
characteristic when the realtime autotuning is
enabled.
3632 hex
Realtime Autotuning Customization
Mode Setting
Make detailed settings for the autotuning
function, when 6: the customized mode is
selected in the Realtime Autotuning Mode
Selection (3002 hex).