Omron R88D-KN series User Manual

11-13
11 Adjustment Functions
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
11-3 Realtime Autotuning
11
11-3-5 Objects to be Changed
*1 Set these objects to 0 during realtime autotuning because force feed-forward function cannot be used.
When the Realtime Autotuning Mode Selection (3002 hex) is not 0, i.e., when the autotuning function is
enabled, the following objects are disabled.
Precautions for Correct UsePrecautions for Correct Use
Although, for these objects, the set value is displayed, the function itself is disabled.
In addition, these objects are functionally disabled although their set values can be changed.
3112 hex
Force Feed-forward Gain
*1
Set this object to 0.
3113 hex
Force Feed-forward Command Filter
*1
Set this object to 0.
3114 hex Gain Switching Input Operating Mode
Selection
If the current setting is “not retained,” set this object to
1.
3115 hex Switching Mode in Position Control If gain switching is enabled, set this object to 10.
If gain switching is disabled, set this object to 0.
3116 hex Gain Switching Delay Time in Position
Control
If the current setting is “not retained,” set this object to
50.
3117 hex Gain Switching Level in Position Control If the current setting is “not retained,” set this object to
50.
3118 hex Gain Switching Hysteresis in Position
Control
If the current setting is “not retained,” set this object to
33.
3119 hex Position Gain Switching Time If the current setting is “not retained,” set this object to
33.
3120 hex Switching Mode in Speed Control If the current setting is “not retained,” set this object to
0.
3121 hex Gain Switching Delay Time in Speed
Control
If the current setting is “not retained,” set this object to
0.
3122 hex Gain Switching Level in Speed Control If the current setting is “not retained,” set this object to
0.
3123 hex Gain Switching Hysteresis in Speed
Control
If the current setting is “not retained,” set this object to
0.
3124 hex Switching Mode in Force Control If the current setting is “not retained,” set this object to
0.
3215 hex Gain Switching Delay Time in Force
Control
If the current setting is “not retained,” set this object to
0.
3126 hex Gain Switching Level in Force Control If the current setting is “not retained,” set this object to
0.
3127 hex Gain Switching Hysteresis in Force
Control
If the current setting is “not retained,” set this object to
0.
Objects to be Disabled
Index Name Description
3610 hex Function Expansion Setting The instantaneous speed observer function (bit 0) and
the disturbance observer function (bit 1) is disabled.
3623 hex Disturbance Force Compensation Gain This object is functionally disabled although the set
value can be changed.
3624 hex Disturbance Observer Filter Setting This object is functionally disabled although the set
value can be changed.
Index Name Description

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English