Gain Adjustment; Purpose Of The Gain Adjustment; Gain Adjustment Methods - Omron R88D-KN series User Manual

11-2 Gain Adjustment

G5-Series Servo Drives provide a realtime autotuning function.
With this function, gain adjustments can be made easily even by those using a servo system for the first
time.
If you cannot obtain the desired responsiveness with autotuning, use manual tuning.

11-2-1 Purpose of the Gain Adjustment

The Servo Drive must operate the motor in response to commands from the host system with minimal
time delay and maximum reliability. The gain is adjusted to bring the actual operation of the motor as
close as possible to the operation specified by the commands, and to maximize the performance of the
machine.
Example
Gain setting: Low
[mm/s]
+2000
0
Actual motor speed
Command speed
-2000
0.0 125
Position loop gain:
Speed loop gain:
Speed loop integral time constant:
Speed feed-forward:
Mass ratio:

11-2-2 Gain Adjustment Methods

Function
Automatic Realtime autotuning
adjustment
Current loop gain
Manual Manual tuning
adjustment
Basic procedure
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Gain setting: High
250 375 0.0 125
3.0 Position loop gain:
2.5 Speed loop gain:
190.0 Speed loop integral time constant:
30 Speed feed-forward:
300 Mass ratio:
Realtime autotuning estimates in realtime the load characteristic
according to the motor speed and the force command and, according
to the result of the estimation, automatically sets the optimal gain.
It also adds simultaneously the friction force to the force command in
advance to reduce the positioning stabilization time.
Setting the condition for the electric current response value in the
Current Response Auto-adjustment (3912 hex) enables the Current
Loop Proportional Gain (3913 hex) and Current Loop Integral Gain
(3914 hex) values to be set automatically.
Manual adjustment is performed if autotuning cannot be executed due
to restrictions on the control mode or load conditions or if ensuring
that the maximum responsiveness matches each load is required.
Position Control Mode adjustment
11 Adjustment Functions
Gain setting: High + feed-forward setting
250 375 0.0 125
251.0 Position loop gain:
140.0 Speed loop gain:
6.0 Speed loop integral time constant:
30 Speed feed-forward:
300 Mass ratio:
Description
11
250 375
251.0
180.0
6.0
100
300
Reference
page
page 11-7
page 10-8
page 11-14
page 11-15
11-5