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11 Adjustment Functions
11 - 8
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Realtime autotuning works under the following conditions.
*1
For details, refer to Realtime Autotuning Mode Selection on page 9-4
Precautions for Correct Use
Precautions for Correct Use
•
Realtime autotuning may not function properly under the conditions described in the following
table.
In such cases, change the load condition or the operating pattern, or use manual tuning.
•
The force feed-forward function cannot be used when realtime autotuning is being used. Set
both the Force Feed-forward Gain (3112 hex) and Force Feed-forward Command Filter
(3113 hex) to 0.
11-3-1 Operating Conditions
Operating conditions
Operation mode
The available realtime autotuning mode varies depending on the control mode.
*1
Others
•
When Servo is ON.
•
When elements other than control objects, such as the force limit settings, are set
correctly and there is no trouble with the motor’s normal operation.
•
Mass ratio estimation operation is disabled when magnetic pole position estimation is
in progress.
Conditions under which realtime autotuning does not operate properly
Load
condition
•
If the load mass is too small or too large compared with the Motor Coil Unit Mass
(less than 3 times, or more than 20 times or more).
•
If the load mass changes.
•
If the machine rigidity is extremely low.
•
If there is non-linear characteristics, such as a backlash.
Operation
pattern
•
If the speed continues at below 100 [mm/s].
•
If the acceleration/deceleration is below 2,000 [mm/s] in 1 [s].
•
If either a speed of 100 [mm/s] or higher, or an acceleration/deceleration of 2,000
[mm/s] or higher in 1 [s] does not last for at least 50 [ms].
•
If the acceleration/deceleration force is too small compared with the unbalanced
load and the viscous friction force.
11-3-2 Objects Requiring Settings
Index
Name
Description
Reference
3002 hex
Realtime Autotuning Mode
Selection
Set the operation mode for the realtime autotuning.
3003 hex
Realtime Autotuning Machine
Rigidity Setting
Set the responsiveness when the realtime
autotuning is enabled.
3631 hex
Realtime Autotuning Estimated
Speed Selection
Set the speed to estimate the load characteristic
while the realtime autotuning is enabled.
3632 hex
Realtime Autotuning
Customization Mode Setting
Make detailed settings for the autotuning function,
when 6: the customized mode is selected in the
Realtime Autotuning Mode Selection (3002 hex).
Содержание R88D-KN01H-ECT-L
Страница 136: ...3 Specifications 3 60 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 190: ...4 System Design 4 54 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 208: ...5 EtherCAT Communications 5 18 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 226: ...6 Basic Control Functions 6 18 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 268: ...7 Applied Functions 7 42 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 276: ...8 Safety Function 8 8 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 616: ...Appendices A 170 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 617: ...Index 1 I G5 series Linear Motors Servo Drives With Built in EtherCAT Communications Index...
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