Making Adjustments - Omron OMNUC W Series User Manual
Ac servomotors/servo drivers
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Operation
4-7
Making Adjustments
The OMNUC W-series AC Servo Driver is equipped with an online auto-tuning function.
Use this function to easily adjust the gain even if you are using a servo system for the first
time. If you cannot use the online auto-tuning function, adjust the gain manually. (All de-
fault settings are 100/200 V settings. For 400 V Servo see appendix.)
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Online Auto-tuning
H What Is Online Auto-tuning?
• Online auto-tuning is a control function that measures the driver's load inertia while it is operating, and
attempts to maintain constantly the target speed loop gain and position loop gain.
Note You cannot use online auto-tuning in the following cases.
• When the Torque Control Mode is used for control.
• When P control is used for a speed control loop (Pn10b.1 = 1).
• When using No. 2 gain for control, i.e., when GSEL (gain switching input) is input.
• When the torque feed-forward function is used (Pn002.0 = 2).
• When the speed feedback compensation function is used (Pn110.1 = 0).
H Online Auto-tuning Related Settings
• The following tables show the user parameters and System Check Modes relating to online auto-tun-
ing.
D User Parameters (Pnjjj)
Parameter
No.
Pn100
Speed loop gain
Pn101
Speed loop integration time constant
Pn102
Position loop gain
Pn103
Inertia ratio
Pn110
Online auto-tuning setting
Pn401
Torque command filter time constant
D System Check Mode (Fnjjj)
Function
code
Fn001
Rigidity setting for online auto-tuning
Fn007
Storing of online auto-tuning results
Note The selected value is written to the user parameters.
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Parameter name
Function name
Explanation
Target value for auto-tuning
Integration time constant for auto-tuning
Target value for auto-tuning
Initial value for auto-tuning
Select auto-tuning function
Filter time constant for auto-tuning
Explanation
Select 10 stages from a combination of Pn100,
Pn101, Pn102, and Pn401. (See note.)
The inertia ratio calculated using online
auto-tuning is written to Pn103 (inertia ratio).
Chapter 4
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Troubleshooting
