9 Servo Parameter Objects
9 - 4
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
•
Set the operation mode for realtime autotuning.
Explanation of Settings
*1
Refer to Realtime Autotuning Customization Mode Setting on page 9-51 for setting the realtime autotuning
function (3632 hex).
For details on realtime autotuning, refer to 11-3 Realtime Autotuning on page 11-7.
*1
The default setting is 11 for a Drive with 200 V and 1 kW or greater, or for a Drive with 400 V.
•
Set the machine rigidity to one of 32 levels when realtime autotuning is enabled.
•
The higher the machine rigidity set value is, the higher the responsiveness is, however, the more
vibration occurs.
•
For details on realtime autotuning, refer to 11-3 Realtime Autotuning on page 11-7.
Precautions for Correct Use
Precautions for Correct Use
If the set value is changed suddenly by a large amount, the gain may change rapidly, subjecting
the machine to shock. Always start with a small setting, and gradually increase the setting while
monitoring machine operation.
3002 hex
Realtime Autotuning Mode Selection
Setting
range
0 to 6
Unit
–
Default
setting
1
Data
attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible
Set
value
Realtime autotuning
Description
0
Disabled
Realtime autotuning is disabled.
1
Focus on stability
(default setting)
No unbalanced load, friction compensation, or gain switching.
2
Focus on position control
Used when there is no unbalanced load and a little friction.
3
Unbalanced load
Used when there is an unbalanced load.
4
Friction compensation
and unbalanced load
Used when there is an unbalanced load and a large friction.
Variations in the positioning stabilization time are suppressed when
friction is large.
5
Reserved
Do not set.
6
Customization
This mode is used for customizing the realtime autotuning function by
using the Realtime Autotuning Customization Mode Setting (3632 hex).
*1
3003 hex
Realtime Autotuning Machine Rigidity Setting
Setting
range
0 to 31
Unit
–
Default
setting
13
*1
Data
attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible
A l l
A l l
3003 hex
0 1 - - - - - - - - - - - - - - - 31
Low
Low
Low
Machine rigidity
Servo gain
Responsiveness
High
High
High
