Basic Adjustment Procedures - Omron SMARTSTEP 2 R88M-G Series User Manual

Basic Adjustment Procedures

 Adjustment in Position Control Mode
Start adjustment
Disable realtime autotuning. (Pn21 = 0 or 7)
Set the parameters to the values shown in table 1.
Set the Inertia Ratio (Pn20). (Calculated value at Servomotor selection.)
Run under actual operating pattern and load.
Positioning time and other operational performance satisfactory?
Increase the Speed Loop Gain (Pn11),
but not so much that it causes hunting when the servo is locked.
Reduce the Speed Loop Integration Time Constant (Pn12),
but not so much that it causes hunting when the servo is locked.
Any hunting (vibration) when the Servomotor rotates?
Increase the Position Loop Gain (Pn10),
but not so much that it causes overshooting.
Change to Parameter Write Mode, and write to EEPROM.
Adjustment completed
No
No
7-5 Manual Tuning
Do not perform extreme
adjustment and setting changes.
They may destabilize operation,
possibly resulting in injury.
Adjust the gain a little at a time
while checking the Servomotor
operation.
Yes
Adjustment completed
Yes
Reduce the Speed Loop Gain (Pn11)
Increase the Speed Loop Integration
Time Constant (Pn12)
If vibration does not stop no matter how many
times you perform adjustments, or if positioning
is slow:
Increase the Torque Command Filter Time
Constant (Pn14).
7
7-16