Omron OMNUC W Series User Manual page 314

Operation
H Manual Tuning Procedure (During Speed Control)
• Use the following procedure to perform operation with speed control (speed command voltage input).
Turn OFF online auto-tuning (Pn110.0 = 2).
Turn ON the power (to enable Pn110.0 setting).
Set Pn103 (inertia ratio). Calculated during Servomotor selection.
Set rigidity (Fn001) for online auto-tuning.
Is Servomotor hunting (and groaning) with servo locked?
Increase rigidity setting (Fn001) until there is no hunting.
Reduce rigidity setting (Fn001) by 1.
Run under normal operating pattern and load
Positioning time, etc., satisfactory?
Increase Pn100 (speed loop gain) until there is no
hunting with Servolock ON.
Reduce Pn101 (speed loop integration constant
until there is no hunting with Servolock ON.
Any hunting (vibration) when the Servomotor rotates?
Rotate Servomotor and monitor operation.
If using positioning:
Increase Pn300 (speed control scale) or position loop
gain on the controller until there is no overshooting.
If using speed operation:
Set Pn300 (speed command scale) to match rotation speed.
End adjustment
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Note Set the online auto-tuning to be always OFF (Pn110.0 = 2).
Start
(See note.)
Note Do not perform extreme adjustment and setting changes
as they may destabilize the operation. Adjust the gain a
little at a time while checking the Servomotor operation.
Reduce rigidity setting (Fn001) until there is no hunting.
End adjustment
Pn101 setting target
Reduce Pn100 (speed loop gain
Increase Pn101 (speed loop integration constant)
Note If vibration does not cease no matter how many times you per-
form adjustments, or if positioning is slow.
Increase Pn401 (torque command filter time constant)
Chapter 4