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Distributor of Omron Automation & Safety: Excellent Integrated System Limited
Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W
Contact us: sales@integrated-circuit.com Website: www.integrated-circuit.com
Operation
Setting the Gain Adjustment Rotary Switch during Online Autotuning
■
• Setting the gain adjustment rotary switch during online autotuning sets the servo system's target
speed loop gain and position loop gain.
• Select a switch setting from the following 10 levels (switches A to F are the same setting) to suit the
mechanical system.
Response
Switch
Position
setting
loop gain
Low
1
15
2
20
3
30
Medium
4
40
High
5
60
6
85
7
120
8
160
9
200
A
250
B
250
C
250
D
250
E
250
F
250
Note The servo system loop gain will increase in response to a higher switch setting value, shorten-
ing positioning time. If the setting is too large, however, the machinery may vibrate. Reduce the
setting if vibration is a problem.
4-5-2 Manual Tuning
Manually Tuning
■
• If online autotuning operations are not effective, tune the system using only the gain adjustment
rotary switch.
• When the load inertia fluctuates below 200 ms or less
• When the rotation speed does not exceed 500 r/min, or when the output torque does not ex-
ceed 50% of the rated torque
• When an external force is always imposed, such as with a vertical axis
• When the load rigidity is low, or when the adhesive friction is high
Speed
Speed loop integral
loop gain
time constant
( × 0.01 ms)
–1
(Hz)
(s
)
15
4,000
20
3,500
30
3,000
40
2,000
60
1,500
85
1,000
120
800
160
600
200
500
250
400
250
400
250
400
250
400
250
400
250
400
Torque command
Typical applications
filter time constant
(mechanical system)
( × 0.01 ms)
250
Articulated robots, harmonic drives,
chain drives, belt drives, rack and
200
pinion drives, etc.
150
100
XY tables, orthogonal robots, gen-
eral-purpose mechanical systems,
etc.
70
Ball screws (direct couplings), feed-
ers, etc.
50
30
20
15
10
10
10
10
10
10
Chapter 4
4-13
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