Omron R88D-KN series User Manual page 330

10 Operation
Adjusting the Current Loop Gain
At the Servo Drive, you need to adjust the current loop gain.
Using the Current Response Auto-adjustment (3912 hex) object allows the Servo Drive to automatically
set the current loop gain.
To use the Current Response Auto-adjustment (3912 hex) object, you must set also the Motor
Inductance (3908 hex) and Motor Resistance (3909 hex) objects.
Index
3908 hex Motor
Inductance
3909 hex Motor Resistance
3912 hex Current
Response
Auto-adjustment
3913 hex Current Loop
Proportional Gain
3914 hex Current Loop
Integral Gain
Setting the Magnetic Pole Detection Data
The magnetic pole detection function detects the positional relationship between a magnetic pole and
an external encoder.
This Servo Drive offers the following two types of magnetic pole detection:
• Magnetic pole position estimation method
• Magnetic pole position restoration method
 Magnetic Pole Position Estimation Method
In the magnetic pole position estimation method, the position of each magnetic pole is estimated
automatically at the first Servo ON after you turn ON the power supply.
The estimated pole position data will be effective until you reset the power supply. After resetting the
power supply, the Servo Drive will estimate the magnetic pole positions again the first Servo ON.
Index
3920 hex Magnetic Pole
Detection Method
3922 hex Magnetic Pole
Position
Estimation Force
Command Time
3923 hex Magnetic Pole
Position
Estimation Force
Command
10-8
Name Unit
0.01 mH Set the phase inductance of the Linear Motor.
0.01 
Set the phase resistance of the Linear Motor.
% Set the condition for the electric current response if you
perform the automatic setting of the Current Loop
Proportional Gain (3913 hex) or Current Loop Integral
Gain (3914 hex).

Set the current loop proportional gain.
Normally, use the value automatically set via the
Current Response Auto-adjustment (3912 hex) object
as is.

Set the current loop integral gain.
Normally, use the value automatically set via the
Current Response Auto-adjustment (3912 hex) object
as is.
Name Unit

Set the magnetic pole detection method.
Select 2 to set the magnetic pole position estimation
method.
ms Set the force application time for a single force
command during magnetic pole position estimation to
judge the motor movement direction.
If the motor is subjected to a large load or resistance,
set a sufficiently long force command time.
% Set the command force for a single force command
during magnetic pole position estimation.
If the motor is subjected to a large load or resistance,
set a sufficiently large command force.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Description
Description
*1
*1
Reference
page 9-57
page 9-57
page 9-58
page 9-59
page 9-59
Reference
page 9-60
page 9-61
page 9-61