Gain Adjustment; Purpose Of The Gain Adjustment; Gain Adjustment Methods - Omron G5 Series User Manual

9 Adjustment Functions
9-1

Gain Adjustment

OMNUC G5-series (Pulse-train Input Type) Servo Drives provide a realtime autotuning function. With
this function, gain adjustments can be made easily even by those who use a servo system for the first
time. If you cannot obtain the desired responsiveness with autotuning, use manual tuning.
9-1-1

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: Ball screw
Gain setting: Low
[r/min]
+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
Inertia ratio
9-1-2

Gain Adjustment Methods

Function
Automatic Realtime autotuning
adjustment
Manual Manual tuning
adjustment
Basic procedure
Note 1 Take sufficient measures to ensure safety.
2 If vibration (unusual noise or vibration) occurs, immediately turn OFF the power supply or turn OFF the servo.
9 - 2
Gain setting: High
250 375 0.0 125
: 20 Position loop gain
: 30 Speed loop gain
50 Speed loop integral time constant :
: 0 Speed feed-forward
: 300 Inertia ratio
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
matching each load is required.
Position control mode adjustment
Internally set speed control mode adjustment
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
Gain setting: High + feed-forward setting
250 375 0.0 125
: 70 Position loop gain
: 50 Speed loop gain
30 Speed loop integral time constant :
: 0 Speed feed-forward
: 300 Inertia ratio
Description
250 375
: 100
: 80
20
: 500
: 300
Reference
page
P.9-4
P.9-11
P.9-12
P.9-13