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11-11
11 Adjustment Functions
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
11-3 Realtime A
u
to
tu
nin
g
11
11
-3-4
S
e
tting Ma
chine Rigidity
Realtime Autotuning Object Table
Rigidity
Gain 1
Gain 2
3100 hex
3101 hex
3102 hex
3104 hex
3105 hex
3106 hex
3107 hex
3109 hex
Position
[0.1/s]
Speed
[0.1 Hz]
Speed
Integral
[0.1 ms]
Force
[0.01 ms]
Position
[0.1/s]
Speed
[0.1 Hz]
Speed
Integral
[0.1 ms]
Force
[0.01 ms]
0
20
15
3700
1500
25
15
10000
1500
1
25
20
2800
1100
30
20
10000
1100
2
30
25
2200
900
40
25
10000
900
3
40
30
1900
800
45
30
10000
800
4
45
35
1600
600
55
35
10000
600
5
55
45
1200
500
70
45
10000
500
6
75
60
900
400
95
60
10000
400
7
95
75
700
300
120
75
10000
300
8
115
90
600
300
140
90
10000
300
9
140
110
500
200
175
110
10000
200
10
175
140
400
200
220
140
10000
200
11
320
180
310
126
380
180
10000
126
12
390
220
250
103
460
220
10000
103
13
480
270
210
84
570
270
10000
84
14
630
350
160
65
730
350
10000
65
15
720
400
140
57
840
400
10000
57
16
900
500
120
45
1050
500
10000
45
17
1080
600
110
38
1260
600
10000
38
18
1350
750
90
30
1570
750
10000
30
19
1620
900
80
25
1880
900
10000
25
20
2060
1150
70
20
2410
1150
10000
20
21
2510
1400
60
16
2930
1400
10000
16
22
3050
1700
50
13
3560
1700
10000
13
23
3770
2100
40
11
4400
2100
10000
11
24
4490
2500
40
9
5240
2500
10000
9
25
5000
2800
35
8
5900
2800
10000
8
26
5600
3100
30
7
6500
3100
10000
7
27
6100
3400
30
7
7100
3400
10000
7
28
6600
3700
25
6
7700
3700
10000
6
29
7200
4000
25
6
8400
4000
10000
6
30
8100
4500
20
5
9400
4500
10000
5
31
9000
5000
20
5
10500
5000
10000
5