R88A-CNG02R Omron, R88A-CNG02R Datasheet - Page 413

• Manufacturer Part Number: R88A-CNG02R
• Description: Encoder Connector INC Motor
• Manufacturer: Omron

Specifications of R88A-CNG02R

• Lead Free Status / Rohs Status: Lead free / RoHS Compliant

7-2 Realtime Autotuning
Realtime autotuning estimates the load inertia of the machine in realtime, and automatically sets the
optimal gain according to the estimated load inertia.
Realtime autotuning can be applied to all control modes.
Precautions
for Correct Use
Operation commands for
actual conditions of use
Load inertia
Operating
pattern
Load
Position/speed
command
• If the load inertia is too small or too large compared with the rotor inertia (i.e., less
• If the load inertia changes quickly, i.e., in less than 10 seconds.
• If the machine rigidity is extremely low.
• If there is backlash or play in the system.
• If the speed is continuously run at a low speed below 100 r/min.
• If the acceleration/deceleration gradually changes at less than 2,000 r/min in 1 s.
• If the acceleration/deceleration torque is too small compared with the unbalanced
• If a speed of 100 r/min or an acceleration/deceleration of 2,000 r/min/s does not
Automatic gain
adjustment
than 3 times, more than 20 times, or more than the applicable load inertia ratio).
load and the viscous friction torque.
continue for at least 50 ms.
• Realtime autotuning may not function properly under the conditions
described in the following table. If realtime autotuning does not function
properly, use normal mode autotuning or manual tuning.
Conditions under which realtime autotuning does not function properly
Position/speed
control
Realtime autotuning
Estimated resonance frequency
Estimated load inertia
Automatic filter
adjustment
Adaptive
Servo Drive
filter
Torque
command
Current
control
7-2 Realtime Autotuning
Servomotor
speed
Servo-
motor
current
Encoder
Servo-
motor
7-4
7