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9 Details on Servo Parameter Objects
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-7 Special Objects
9
• Set the details of the autotuning function when the Realtime Autotuning Mode Selection (3002 hex) is
set to 6.
• Refer to 11-3 Realtime Autotuning on page 11-7.
Explanation of Set Values
*1 When load characteristic estimation is disabled, inertial ratio updating is also disabled, even if the latter is set to
be updated with the estimation result. When torque 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 Inertia ratio updating Select whether to update the present set value of the Inertial Ratio
(3004 hex) with the load characteristic estimation result.
0:Use the present set value.
1:Update with the estimation result.
4 to 6 Torque compensation Select whether to update three objects, Torque Command Value Offset
(3607 hex), Forward Direction Torque Offset (3608 hex), and Reverse
Direction Torque Offset (3609 hex), with the load characteristic
estimation result.
0:Use the present set value.
1:Disable the torque compensation. Clear the above three objects to
zero.
2:Vertical mode. 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
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