9 Details on Servo Parameter Objects
9-4
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
*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.
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.
• Set the load inertia as a percentage of the motor rotor inertia.
• 3004 hex = (Load inertia/Rotor inertia) × 100%
• When realtime autotuning is enabled, the inertia ratio is continuously estimated and saved in
EEPROM every 30 minutes.
• If the inertia ratio is set correctly, the setting unit for the Speed Loop Gain 1 (3101 hex) and Speed
Loop Gain 2 (3106 hex) is Hz.
• If the Inertia Ratio (3004 hex) is set larger than the actual value, the setting for speed loop gain will
increase. If the Inertia Ratio (3004 hex) is set smaller than the actual value, the setting for speed loop
gain will decrease.
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.
3004 hex
Inertia Ratio
Setting range 0 to 10000 Unit %
Default setting
250 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
All
Low
Low
Low
←Machine rigidity→
←
Servo gain
→
←Responsiveness→
High
High
Hi
h
0.1 - - - - - - - - - - - - - - - 313003 hex
All
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