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Omron R88D-KN series User Manual

Omron R88D-KN series
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9 Servo Parameter Objects
9-4
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Set the operating mode for realtime autotuning.
Explanation of Settings
*1 Refer to Realtime Autotuning Customization Mode Setting on page 9-47 for setting the realtime autotuning
function (3632 hex).
Refer to 11-3 Realtime Autotuning on page 11-7 for details of realtime autotuning settings.
*1 The default setting is 11 for a Drive with 200 V and 1 kW or greater, or for a Drive with 400 V.
Set the machine rigidity to one of 32 levels when realtime autotuning is enabled.
The higher the machine rigidity set value is, the higher the responsiveness is, however, the more
vibration occurs.
Refer to 11-3 Realtime Autotuning on page 11-7 for details of realtime autotuning settings.
Precautions for Correct UsePrecautions for Correct Use
If the set value is changed suddenly by a large amount, the gain may change rapidly, subjecting
the machine to shock. Always start with a small setting, and gradually increase the setting while
monitoring machine operation.
3002 hex
Realtime Autotuning Mode Selection
Setting range 0 to 6 Unit
Default setting
1
Data attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
Set value Realtime autotuning Description
0 Disabled Realtime autotuning is disabled.
1 Focus on stability
(default setting)
No unbalanced load, friction compensation, or gain switching.
2 Focus on position
control
Used when there is no unbalanced load and a little friction.
3 Unbalanced load
mode
Used when an unbalanced load is present.
4Friction
compensation and
unbalanced load
mode
Used when there is an unbalanced load and a large friction.
Variations in the positioning stabilization time are suppressed when friction
is large.
5 Reserved Do not set.
6 Customization This mode is used for customizing the realtime autotuning function by
using the Realtime Autotuning Customization Mode Setting (3632 hex).
*1
3003 hex
Realtime Autotuning Machine Rigidity Setting
Setting range
0 to 31
Unit
Default setting
13
*1
Data attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
All
All
Low
Low
Low
←Machine rigidity→
Servo gain
←Responsiveness→
High
High
High
0.1 - - - - - - - - - - - - - - - 313003 hex

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Omron R88D-KN series Specifications

General IconGeneral
BrandOmron
ModelR88D-KN series
CategoryController
LanguageEnglish

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