Manually Adjusting Gain - Omron Omnus FND-X Series User Manual

Operation

3-9-2 Manually Adjusting Gain

H Gain Adjustment Flowchart
Perform auto-tuning to match the rigid-
ity of the mechanical system.
The motor hunts when servo-locked.
(Accompanied by a hunting noise.)
NO
Raise the Destination cutoff frequency
to the value just before hunting occurs
and perform auto-tuning.
Do characteristics such as positioning
time meet system specifications?
NO
Increase AJ2. (speed loop propor-
tional gain) to a value where hunting
doesn't occur in servo-lock.
Decrease AJ3. (speed loop integral
gain) to a value where hunting doesn't
occur in servo-lock.
Does hunting (vibration) occur
when the motor is operated?
NO
Run the motor and monitor its opera-
tion.
Increase AJ4. (position loop gain) until
overshooting does not occur.
End adjustment.
YES
Decrease the target response fre-
quency so hunting doesn't occur and
perform auto-tuning.
YES
:
YES
Decrease AJ2. (speed loop proportional
gain).
Increase AJ3. (speed loop integral
gain).
: When vibration can't be eliminated despite
several adjustments or positioning is too slow:
Decrease AJ9. (current reference filter).
WARNING
!
Do not make extreme adjustment or setting
changes as they cause unstable operation and
may result in injury.
Perform gain adjustment by changing the value
in small increments, while checking that the mo-
tor is operating normally.
End adjustment.
Chapter 3
3-71