Omron R88D-KN series User Manual

9-47
9 Servo Parameter Objects
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
9-7 Special Objects
9
• Set the details of the autotuning function when the Realtime Autotuning Mode Selection (3002 hex) is
set to 6.
For the Realtime Autotuning Mode Selection (3002 hex), refer to Realtime Autotuning Mode Selection
on page 9-4.
Explanation of Settings
*1 When load characteristic estimation is disabled, mass ratio updating is also disabled, even if the latter is set to
be updated with the estimation result. When force compensation is updated with the estimation result, load
characteristic estimation is disabled.
3632 hex
Realtime Autotuning Customization Mode Setting
Setting range 32768 to
32767
Unit  Default
setting
0 Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible.
Bit Name Description
0 to 1 Load characteristic
estimation
*1
Select to enable or disable load characteristic estimation.
0:Disable
1:Enable
2 to 3 Mass ratio updating Select whether to update the present set value of the Mass Ratio (3004
hex) with the load characteristic estimation result.
0:Use the present set value.
1:Update with the estimation result.
4 to 6 Force compensation Select whether to update three objects, Force Command Value Offset
(3607 hex), Positive Direction Force Offset (3608 hex), and Negative
Direction Force Offset (3609 hex), with the load characteristic
estimation result.
0:Use the present set value.
1:Disable the force compensation. Clear the above three objects to
zero.
2:Unbalanced load. Update 3607 hex. Clear 3608 hex and 3609 hex to
zero.
3:Friction compensation (small). Update 3607 hex. Set a small
compensation to 3608 hex and 3609 hex.
4:Friction compensation (intermediate). Update 3607 hex. Set an
intermediate compensation in 3608 hex and 3609 hex.
5:Friction compensation (large). Update 3607 hex. Set a large
compensation in 3608 hex and 3609 hex.
7 Rigidity setting Select to enable or disable the basic gain setting by the Realtime
Autotuning Machine Rigidity Setting (3003 hex).
0:Disable
1:Enable
8 Fixed object settings Select whether to allow changes to the objects that normally are fixed.
0:Use the present settings.
1:Set to fixed values.
9 to 10 Gain switch setting Select the method to set the objects that relate to gain switching while
the realtime autotuning is enabled.
0:Use the present settings.
1:Disable gain switching.
2:Enable gain switching.
All

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English