R88A-CNG01R Omron, R88A-CNG01R Datasheet - Page 416

• Manufacturer Part Number: R88A-CNG01R
• Description: Encoder Connector ABS Motor
• Manufacturer: Omron

Specifications of R88A-CNG01R

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

7
7-2 Realtime Autotuning
Fit Gain Function
7-7
OMNUC G-Series products include a a fit gain function that automatically sets the rigidity to match
the device when realtime autotuning is used at position control. A fully automatic search is
performed for the optimal rigidity setting by repeating a specified reciprocating operation with
position control.
• In addition to the precautions for realtime autotuning, be aware of the following conditions under
which operation may not be performed correctly. If that occurs, use normal realtime autotuning.
Adaptive filter
Control mode
Position command
(reciprocating
command
for trapezoidal
speed waveform)
Precautions
for Correct Use
autotuning
Operating
Operating
operation
Realtime
pattern
pattern
(Stabilization
time)
• The realtime autotuning operates normally.
• The Servo is ON.
• Pn21= 1 to 6. (Operation is not possible if Pn21 is 0 or 7.)
• The adaptive filter is enabled.
• The control mode is position control.
• The position command is for reciprocating operation.
• The time per position command is at least 50 ms.
• The minimum frequency for the position command is 1 kpps.
• One position command is too short, i.e., less than two revolutions.
• Positioning is not completed after the position command is completed and before
• The acceleration/deceleration is sudden, i.e., 3,000 r/min/0.1 s.
−
+
Pn23 = 1: Enabled
Pn02 = 0: Position control
Pn02 = 3: First control mode for position/speed control
Pn02 = 4: First control mode for position/torque control
(Required to determine the start and end of the command.)
the next position command starts.
Command
waveform
Positioning
completed
• To be applicable, this function must satisfy the following conditions in
deviation
Position
addition to the conditions for realtime autotuning.
Realtime autotuning
Automatic setting of
rigidity and gain table
Conditions under which the fit gain does not function properly
ON
Conditions under which the fit gain functions properly
speed control
Position/
Fit gain function
Estimated resonance
frequency
Estimated load inertia
50 ms min.
Adaptive
OFF
filter
Acceleration/deceleration
1 s min.
Torque
command
Servo Drive
(Vibration
detection)
Current
control
1 s min.
Servo-
motor
current
Servo-
motor
speed
≤
Encoder
Servo-
motor
(3,000 r/min/0.1 s)