10-7
10-3 Realtime Autotuning
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10
Adjustment Functions
Parameters Requiring Settings
Setting Realtime Autotuning
1. When setting realtime autotuning, turn the servo OFF.
2. Set REALTIME AUTOTUNING mode Selection (Pn002) depending on the load.
Normally, set the parameter to 1 or 2. When using a vertical axis, set the parameter to 3 or 4.
A setting of 5 is used in combination with a software tool. Do not set the parameter to 5 for
normal operation.
The gain switching function is enabled for set values 2 to 4. If Pn002 is set to 2 to 4, the
Switching Mode in Position Control (Pn115) must be set to 10 (Combination of position
command input and rotation speed). The gain is switched according to this switching condition
setting. Refer to page " Gain Switching Setting for Each CONTROL mode" (P.6-28) for details
on setting the Switching Mode in Position Control (Pn115).
Parameter
number
Parameter name Explanation Reference
Pn002
REALTIME AUTOTUNING
mode Selection
Set the operation mode for the realtime autotuning.
P.8-2
Pn003
Realtime Autotuning
Machine Rigidity Setting
Set the responsiveness when the realtime autotuning is
enabled.
P.8-2
Pn631
Realtime Autotuning
Estimated Speed Selection
Set the load characteristic estimated speed, when the
realtime autotuning is enabled.
P.8-56
Pn632
REALTIME AUTOTUNING
CUSTOMIZATION mode
Setting
Make the detailed setting for the autotuning function,
when the customized mode (6) is selected on the
REALTIME AUTOTUNING mode Selection (Pn002).
P.8-56
Set
value
Realtime autotuning Description
0 Disabled Realtime autotuning is disabled.
1
Focus on stability (default
setting)
No unbalanced load or friction compensation, nor gain
switching.
2 Focus on positioning
*1
Used for a horizontal axis or others which has no
unbalanced load, or for a ball screw drive with little friction.
3 Vertical axis
*2
Used when unbalanced load is present to vertical axis, etc.
4 Friction compensation
*3
Used when friction is large.
Used for a belt driving shaft with large friction. Variations in
finalizing the positioning are narrowed.
5
Friction compensation and
Vertical axis
Used when unbalanced load is present on the vertical axis
or the like and when friction is large.
6 Customization
*4
Detailed customization can be set on the REALTIME
AUTOTUNING CUSTOMIZATION mode Setting (Pn632).
*1.In speed controls or torque controls, this will be 1: Focus on stability.
*2. In torque controls, this will be 1: Focus on stability.
*3.In speed controls, this will be 3: Vertical axis. In torque controls, this will be 1: Focus on stability.
*4.In some control modes, some functions are not available. Refer to the Realtime Autotuning
Customization Mode Selection (Pn632) in “8-7 Special Parameters”.
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