11 - 7
11 Adjustment Functions
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
11
-3
R
e
a
ltim
e
Au
to
tu
n
ing
11
11-3 Realtime Autotuning
Realtime autotuning estimates in realtime the load characteristic according to the motor speed and the
force command and operates the machine by automatically setting the gain according to the result of
the estimation. At the same time, it can lower the resonance and vibration if the adaptive filter is
enabled.
Realtime autotuning is enabled for any control to adjust the speed loop PI control.
Refer to 11-6 Adaptive Filter on page 11-21 for details about adaptive filters.
Position/Speed
command
Position/
Speed
control
Force
command
Motor
Notch
Filter
Generate
position
command
Current
control
Load
characteristic
estimation
Resonance
frequency
measurement
Motor
current
External encoder
Motor speed
