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11 - 11
11 Adjustment Functions
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
11
-3
R
e
a
ltim
e
Au
to
tu
n
ing
11
11
-3-4
S
e
tting Ma
chine Rigidity
*1
When the unbalanced load mode, or the friction compensation and unbalanced load mode is set for realtime autotuning,
9,999 is set before the load characteristic estimation, i.e., estimation of Mass Ratio, Force Command Value Offset, and
Positive/Negative Direction Force Offset, is completed. 10.000 is set after the load characteristic estimation is completed.
Realtime Autotuning Object Table
Rigidity
Gain 1
Gain 2
3100 hex
3101 hex
3102 hex
3104 hex
3105 hex
3106 hex
3107 hex
3109 hex
Position
[0.1/s]
Speed
[0.1 Hz]
Speed
Integral
[0.1 ms]
Force
[0.01 ms]
Position
[0.1/s]
Speed
[0.1 Hz]
Speed
*1
Integral
[0.1 ms]
Force
[0.01 ms]
0
20
15
3,700
1,500
25
15
10,000
1,500
1
25
20
2,800
1,100
30
20
10,000
1,100
2
30
25
2,200
900
40
25
10,000
900
3
40
30
1,900
800
45
30
10,000
800
4
45
35
1,600
600
55
35
10,000
600
5
55
45
1,200
500
70
45
10,000
500
6
75
60
900
400
95
60
10,000
400
7
95
75
700
300
120
75
10,000
300
8
115
90
600
300
140
90
10,000
300
9
140
110
500
200
175
110
10,000
200
10
175
140
400
200
220
140
10,000
200
11
320
180
310
126
380
180
10,000
126
12
390
220
250
103
460
220
10,000
103
13
480
270
210
84
570
270
10,000
84
14
630
350
160
65
730
350
10,000
65
15
720
400
140
57
840
400
10,000
57
16
900
500
120
45
1,050
500
10,000
45
17
1,080
600
110
38
1,260
600
10,000
38
18
1,350
750
90
30
1,570
750
10,000
30
19
1,620
900
80
25
1,880
900
10,000
25
20
2,060
1,150
70
20
2,410
1,150
10,000
20
21
2,510
1,400
60
16
2,930
1,400
10,000
16
22
3,050
1,700
50
13
3,560
1,700
10,000
13
23
3,770
2,100
40
11
4,400
2,100
10,000
11
24
4,490
2,500
40
9
5,240
2,500
10,000
9
25
5,000
2,800
35
8
5,900
2,800
10,000
8
26
5,600
3,100
30
7
6,500
3,100
10,000
7
27
6,100
3,400
30
7
7,100
3,400
10,000
7
28
6,600
3,700
25
6
7,700
3,700
10,000
6
29
7,200
4,000
25
6
8,400
4,000
10,000
6
30
8,100
4,500
20
5
9,400
4,500
10,000
5
31
9,000
5,000
20
5
10,500
5,000
10,000
5
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...
Страница 624: ......
Страница 625: ......