Omron R7M-A Series User Manual page 202

Distributor of Omron Automation & Safety: Excellent Integrated System Limited
Datasheet of R7D-AP01H - DRIVER SERVO 200V 100W
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Operation
Pn102 Position loop gain
Settings 1 to 2000
• Adjust the position loop response to suit the mechanical rigidity of the system.
• Servo system response is determined by the position loop gain. Servo systems with a high loop
gain have a high response, and positioning is fast. To increase the position loop gain, you must
improve mechanical rigidity and increase the specific oscillation. This should be 50 to 70 (1/s) for
ordinary machine tools, 30 to 50 (1/s) for general-use and assembly machines, and 10 to 30 (1/s)
for production robots. The default position loop gain is 40 (1/s), so be sure to lower the setting for
machines with low rigidity.
• Raising the position loop gain in systems with low mechanical rigidity or systems with low specific
oscillation may result in machine resonance, causing an overload alarm to occur.
• If the position loop gain is low, you can shorten the positioning time using feed forward. You can
also shorten the positioning time using the bias function.
• Position loop gain is generally expressed as follows.
Position loop gain (Kp) =
When the position loop gain is manipulated, the response is as shown in the following diagram.
Servomotor speed
Note This parameter is enabled only if the gain adjustment rotary switch has been set to 0.
Pn103 Inertia ratio
Settings 0 to 10000
• Set the mechanical system inertia (load inertia for Servomotor shaft conversion) using the ratio (%)
of the Servomotor rotor inertia. If the inertia ratio is set incorrectly, Pn100 (speed loop gain) will also
be incorrect.
• This parameter is the initial online autotuning value. After performing online autotuning, the correct
value will be written to Pn103 if the tuning results are saved. Refer to 4-5-1 Online Autotuning for
details.
Unit 1/s
Command pulse frequency (pulses/s)
Deviation counter residual pulses (pulses)
When position loop gain is high.
When position loop gain is low.
Unit %
Default 40
(1/s)
Default 300
Chapter 4
Restart? ---
Time
Restart? ---
4-19