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11-13
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
-3-5
Objects to
be Change
d
*1
Set these objects to 0 during realtime autotuning because force feed-forward function cannot be used.
When the Realtime Autotuning Mode Selection (3002 hex) is not 0, i.e., when the autotuning function is
enabled, the following objects are disabled.
Precautions for Correct Use
Precautions for Correct Use
Although, for these objects, the set value is displayed, the function itself is disabled.
In addition, these objects are functionally disabled although their set values can be changed.
3112 hex
Force Feed-forward Gain
*1
Set this object to 0.
3113 hex
Force Feed-forward Command Filter
*1
Set this object to 0.
3114 hex
Gain Switching Input Operating Mode
Selection
If the current setting is
“
not retained,
”
set this object to
1.
3115 hex
Switching Mode in Position Control
If gain switching is enabled, set this object to 10.
If gain switching is disabled, set this object to 0.
3116 hex
Gain Switching Delay Time in Position
Control
If the current setting is
“
not retained,
”
set this object to
50.
3117 hex
Gain Switching Level in Position Control
If the current setting is
“
not retained,
”
set this object to
50.
3118 hex
Gain Switching Hysteresis in Position
Control
If the current setting is
“
not retained,
”
set this object to
33.
3119 hex
Position Gain Switching Time
If the current setting is
“
not retained,
”
set this object to
33.
3120 hex
Switching Mode in Speed Control
If the current setting is
“
not retained,
”
set this object to
0.
3121 hex
Gain Switching Delay Time in Speed
Control
If the current setting is
“
not retained,
”
set this object to
0.
3122 hex
Gain Switching Level in Speed Control
If the current setting is
“
not retained,
”
set this object to
0.
3123 hex
Gain Switching Hysteresis in Speed
Control
If the current setting is
“
not retained,
”
set this object to
0.
3124 hex
Switching Mode in Force Control
If the current setting is
“
not retained,
”
set this object to
0.
3215 hex
Gain Switching Delay Time in Force
Control
If the current setting is
“
not retained,
”
set this object to
0.
3126 hex
Gain Switching Level in Force Control
If the current setting is
“
not retained,
”
set this object to
0.
3127 hex
Gain Switching Hysteresis in Force
Control
If the current setting is
“
not retained,
”
set this object to
0.
Objects to be Disabled
Index
Name
Description
3610 hex
Function Expansion Setting
The instantaneous speed observer function (bit 0) and
the disturbance observer function (bit 1) is disabled.
3623 hex
Disturbance Force Compensation Gain
This object is functionally disabled although the set
value can be changed.
3624 hex
Disturbance Observer Filter Setting
This object is functionally disabled although the set
value can be changed.
Index
Name
Description