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

11-2 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
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:

Gain Adjustment Methods

Function
Realtime autotuning
Automatic
adjustment
Manual tuning
Manual
adjustment
Basic procedure
Precautions for Safe Use
Take sufficient measures to ensure safety.
If vibration occurs (unusual noise or vibration), immediately turn OFF the power supply or turn OFF
the servo.
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
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 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
matches each load is required.
Position Control/Fully-closed Control Mode adjustment

11-2 Gain Adjustment

Gain setting: High + feed-forward setting
250 375 0.0
251.0 Position loop gain:
140.0 Speed loop gain:
6.0 Speed loop integral time constant:
30 Speed feed-forward:
300 Inertia ratio:
Description
125 250 375
251.0
180.0
6.0
100
300
Reference
page
page 11-6
page 11-13
page 11-14
11-4
11