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10-4
10-2 Realtime Autotuning
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
10
Adj
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Func
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Setting Realtime Autotuning
1. When setting realtime autotuning, turn the servo OFF.
2. Set REALTIME AUTOTUNING mode Selection (Pn002) depending on the load.
When the value is set to 3 or 5, the response is fast for a change in inertia during operation.
Operation, however, may be unstable depending on the operating pattern. Normally, set the
parameter to 1 or 4.
Use a setting of 3 or 5 when the vertical axis is used.
Gain switching function is enabled for set values 2 to 6.
Setting Machine Rigidity
1. Set the Realtime Autotuning Machine Rigidity Selection (Pn003) according to the
table below.
Start from the lower machine rigidity number and check the operation.
2. Turn the servo ON and operate the machine with a normal pattern.
To increase responsiveness, increase the machine rigidity number, and check the response.
If vibration occurs, enable the adaptive filter and operate. If already enabled, adjust by lowering
the machine rigidity number.
3. If there are no issues with the operation, turn the servo OFF and set REALTIME
AUTOTUNING mode Selection (Pn002) to 0 (disabled).
In this case, the adaptive filter can remain enabled. To disable the adaptive filter, read the
frequency from the adaptive filter table number display, and set to notch filter 1 frequency.
Set
value
Realtime autotuning Explanation
0 Disabled Realtime autotuning is disabled.
1
STABILITY FOCUSED mode
(default setting) No unbalanced load or friction compensation, nor gain
switching.
2
POSITIONING FOCUSED
mode
Used when unbalanced load and friction are small.
3 VERTICAL AXIS mode Used when unbalanced load is present to vertical axis, etc.
4
FRICTION COMPENSATION
mode
Used when friction is large.
5
FRICTION COMPENSATION
VERTICAL AXIS mode Used when unbalanced load is present on the vertical axis
or the like and when friction is large.
6 Customization
Used when freely combining REALTIME AUTOTUNING
mode and APPLICABLE FILTER mode settings.
Machine configuration and drive method
Realtime Autotuning
Machine Rigidity Selection (Pn003)
Ball screw direct coupling 12 to 24
Ball screw and timing belt 8 to 20
Timing belt 4 to 16
Gears, rack and pinion drives 4 to 16
Machines with low rigidity, etc. 1 to 8
Stacker crane Perform manual tuning.