Gain Adjustment - Omron R88M-K Series User Manual

10-1 Gain Adjustment

10-1 Gain Adjustment
OMNUC 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.
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: Ball screw
[r/min]
+2000
0
Command speed
−2000
0.0
Position loop gain
Speed loop gain
Speed loop integral time
Speed feed-forward
Inertia ratio
10
Gain Adjustment Methods
Realtime autotuning
Automatic
adjustment
Manual tuning
Manual
adjustment
Note 1.Take sufficient measures to ensure safety.
Note 2.If vibration occurs (unusual noise or vibration), immediately turn OFF the power supply or turn OFF the servo.
10-1
Gain setting: Low
Actual motor speed
125 250 375
: 3.0
: 2.5
: 190.0
: 30
: 300
Function
Basic procedure
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Gain setting: High
0.0 125 250 375
Position loop gain : 251.0
Speed loop gain : 140.0
Speed loop integral time : 6.0
Speed feed-forward : 30
Inertia ratio : 300
Description
Realtime autotuning estimates the load inertia of the
machine in realtime and automatically sets the optimal gain
according to the estimated load inertia.
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/Fully-closed Control Mode adjustment
Speed Control Mode adjustment
Torque Control Mode adjustment
Gain setting: High + feed-forward setting
0.0 125 250
Position loop gain : 251.0
Speed loop gain : 140.0
Speed loop integral time : 6.0
Speed feed-forward : 100
Inertia ratio : 300
Reference
page
P.10-3
P.10-10
P.10-11
P.10-12
P.10-17
375