Omron R88D-KTA5L User Manual page 554

10-3 Manual Tuning
Position Control/Fully-closed Control Mode Adjustment
Use the following procedure to perform the adjustment in position control for the Servo Drive.
Set the realtime autotuning to disabled (Pn002 = 0)
Set each parameter according to the parameter settings for different applications.
Operate based on the normal operation pattern and load.
Are the positioning time and other performances satisfied?
Increase Speed Loop Gain (Pn101) to the extent
that hunting does not occur upon servo lock.
Decrease Speed Loop Integral Time Constant (Pn102) to the extent
that hunting does not occur upon servo lock.
Does hunting or vibration occur when the motor rotates?
Increase position loop gain to the extent
Write to the EEPROM in the Parameter Write Mode.
10
10-11
Start adjustment.
No
No
that overshooting does not occur.
Adjustment completed.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Never adjust or set parameters to extreme values,
because it will make the operation unstable.
Failure to follow this guideline may result in injury.
Gradually change the value to adjust the
gain while checking the motor operation.
Yes
Adjustment completed.
Yes
Decrease Speed Loop Gain (Pn101).
Increase Speed Loop Integral Time Constant (Pn102).
If vibration persists after repeated adjustments
or the positioning is slow:
Increase Torque Command Filter Time Constant (Pn104).
Set the damping frequency in the
Notch 1 Frequency Setting (Pn201),
Notch 2 Frequency Setting (Pn204),
Notch 3 Frequency Setting (Pn207) or
Notch 4 Frequency Setting (Pn210).