11 Adjustment Functions
11 - 12
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
This section describes the objects to be updated by the realtime autotuning function.
z
Objects to be updated by the Realtime Autotuning Mode Selection (3002 hex)
and Realtime Autotuning Customization Mode Setting (3632 hex) settings
Setting the Realtime Autotuning Mode Selection (3002 hex) and the Realtime Autotuning
Customization Mode Setting (3632 hex) causes the following objects to be updated using the load
characteristic estimation value.
*1
The Mass Ratio will be updated if the Realtime Autotuning Customization Mode Setting (3632 hex) bits 2 to 3
are set to 1 (Update with the estimation result).
z
Objects to be updated by the Realtime Autotuning Machine Rigidity Setting
(3003 hex) setting
Setting the Realtime Autotuning Machine Rigidity Setting (3003 hex) causes the following objects to
be updated.
For details, refer to Realtime Autotuning Object Table on page 11-11.
11-3-5 Objects to Be Updated
Objects to Be Updated
Index
Name
Description
3004 hex
Mass Ratio
Updated when realtime autotuning is operating.
However, in the customized mode, this object may not be
updated depending on its settings.
*1
3607 hex
Force Command Value Offset
Updated when the unbalanced load mode for realtime autotuning
is enabled.
3608 hex
Positive Direction Force Offset
Updated when the friction compensation/unbalanced load mode
for realtime autotuning is enabled.
3609 hex
Negative Direction Force Offset
Updated when the friction compensation/unbalanced load mode
for realtime autotuning is enabled.
Index
Name
Description
3100 hex
Position Loop Gain
Updated according to the rigidity.
3101 hex
Speed Loop Gain 1
3102 hex
Speed Loop Integral Time Constant 1
3104 hex
Force Command Filter Time Constant 1
3105 hex
Position Loop Gain 2
3106 hex
Speed Loop Gain 2
3107 hex
Speed Loop Integral Time Constant 2
3109 hex
Force Command Filter Time Constant 2
