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11 Adjustment Functions
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
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Characteristic
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timation
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1 Objects
Requiring Settin
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11-8-1 Objects Requiring Settings
Index
(hex)
Subindex
(hex)
Name Description
Refer-
ence
3B80
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Load Characteristic
Estimation Sets the operation of the load characteristic estimation. P. 9-78
01 Inertia Ratio Update
Selection Selects whether to estimate load characteristics and update a
value of the inertia ratio.
0: Use the present set value.
1: Update with the estimation result. P. 9-78
02 Viscous Friction Com-
pensation Update
Selection Selects whether to estimate load characteristics and update a
value of the viscous friction coefficient.
0: Use the present set value.
1: Update with the estimation result. P. 9-78
03 Unbalanced Load
Compensation Update
Selection Selects whether to estimate load characteristics and update a
value of the unbalanced load compensation.
0: Use the present set value.
1: Update with the estimation result. P. 9-79
04 Dynamic Friction Com-
pensation Update
Selection Selects whether to estimate load characteristics and update a
value of the dynamic friction compensation.
0: Use the present set value.
1: Update with the estimation result. P. 9-79
05 Viscous Friction Tun-
ing Coefficient Sets the value to adjust the amount of torque compensation
which is calculated from the estimated viscous friction value.
When the viscous friction coefficient update is enabled, the
viscous friction coefficient is updated with a value which is
calculated by multiplying the estimated viscous friction by the
amount of viscous friction compensation. P. 9-79
06 Estimation Sensitivity
Selection Selects the sensitivity to estimate load characteristics from
load changes during the load characteristic estimation.
0: Estimate by minutes from load characteristic changes.
This setting is used when there is a little change in load char-
acteristics.
1: Estimate by seconds from load characteristic changes.
This setting is used when there is a gradual change in load
characteristics.
2: Estimate immediately from load characteristic changes.
This setting is used when there is a sharp change in load
characteristics. P. 9-79
FF Estimation Status Gives the execution status of the load characteristic estima-
tion.
0: Never executed
1: Obtaining data
2: During estimation
3: Estimation completed P. 9-80