9-3
9 Details on Servo Parameter Objects
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-1 Basic Settings
9
Explanation of Set Values
• The motor rotation direction when viewing the shaft from the load side is called clockwise (CW) or
counterclockwise (CCW).
• Set the control mode to be used.
Explanation of Set Values
*1 Set any value between 0 and 5 for semi-closed control.
• Set the operating mode for realtime autotuning.
• Refer to 11-3 Realtime Autotuning on page 11-7.
Explanation of Set Values
Set value Description
0 A forward direction command sets the motor rotation direction to clockwise.
1 A forward direction command sets the motor rotation direction to counterclockwise.
3001 hex
Control Mode Selection
Setting range 0 to 6 Unit −
Default setting
0 Data attribute R
Size 2 bytes (INT16) Access RW PDO map Not possible.
Set value Description
0 to 5
Semi-closed control
*1
6 Fully-closed control
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 for a horizontal axis or other axes that have no unbalanced load, or
for a ball screw drive with little friction.
3 Vertical axis Used when an unbalanced load is present, such as a vertical axis.
4 Friction
compensation and
vertical axis
Used when friction is large (unbalanced load also calculated).
Used for a belt-driving shaft with large friction. Variations in finalizing the
positioning are suppressed.
5 Load characteristic
estimation
Used only for estimating load characteristics.
6 Customization This mode is used for customizing the realtime autotuning function by
using the Realtime Autotuning Customization Mode Setting (3632 hex).
CW
CCW
All
All
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