Gain Settings - Omron R88D-KN series User Manual

9-2

Gain Settings

Refer to 11-2 Gain Adjustment on page 11-5 for the settings for gain adjustment.
Position Loop Gain 1
3100 hex
Setting range 0 to 30000
Size 2 bytes (INT16)
*1 The default setting is 320 for a Drive with 200 V and 1 kW or greater, or with 400 V.
• Set the position loop response in accordance with the machine rigidity.
• The responsiveness of the servo system is determined by the position loop gain.
• Servo systems with a high position loop gain have a high responsiveness and fast positioning.
• To increase the position loop gain, you must improve machine rigidity and increase the specific
damping frequency. This should be 500 to 700 [0.1/s] for ordinary machine tools, 300 to 500 [0.1/s]
for general-use and assembly machines, and 100 to 300 [0.1/s] for industrial robots. The default
position loop gain is 480 [0.1/s], so be sure to lower the set value for machines with low machine
rigidity.
• Increasing the position loop gain in systems with low machine rigidity or systems with low specific
damping frequencies may cause machine resonance, resulting in an overload error.
• If the position loop gain is low, you can shorten the positioning time using feed-forward.
• This object is automatically changed by executing realtime autotuning. To set it manually, set the
Realtime Autotuning Mode Selection (3002 hex) to 0.
Position loop gain is generally expressed as follows:
Position loop gain (Kp) =
Response for Position Loop Gain Changes
Motor speed
• If the speed loop gain and position loop gain are
optimally set, the motor operation for the
command delays 2/Kp at acceleration and
delays 3/Kp at deceleration.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Unit 0.1/s Default setting
Access
Command pulse frequency (pulses/s)
Pulse position error (pulses)
Position loop gain is high.
Position loop gain is low.
9 Servo Parameter Objects
*1
480 Data attribute
RW PDO map
(0.1/s)
2
Kp
Position
Motor
command
speed
Motor operation
csp pp hm
B
Not possible.
9
Time
Time
3
Kp
9-7