Omron trajexia CJ1W-MCH72 Operation Manual page 281

How-to's
5-1-2 Gain settings
270
' Unit 0
MECHATROLINK(0,20,65)
MECHATROLINK(0,20,66)
MECHATROLINK(0,20,67)
'Stop MECHATROLINK Section
'================================================
'THIS SECTION MUST BE MANUALLY SET BY THE USER
'ACCORDING TO THE APPLICATION. TYPICAL ACTIONS ARE
'VARIABLE INITIALIZATION, SERVO/AXIS SETTING, NAMING
'GLOBAL VARIABLES AND START THE "APPLICATION" PROGRAM.
'================================================
'Define Names for global variables
GLOBAL "project_status",100
GLOBAL "alarm_status",101
GLOBAL "action",102
'Initialize variables
VR(0)=0
project_status=0
alarm_status=0
action=0
'Start APPLICATION program
RUN "APPLICATION",2
STOP
The gain setting is related to the mechanical system to which the motor is
attached. There are three main concepts:
• Inertia ratio
• Rigidity
• Resonant frequency.
These concepts are described in section 1-10.
This section shows example parameter values for:
• Speed Loop Gain
• Proportional position gain
• Velocity Feed Forward gain.
The example values for the program and motion parameters in the Trajexia
system are given below. Note that they are appropriate for 13-bit encoders
and Sigma-II Servo Drivers.
/i
Drive Parameter value
Pn103 = 716
Pn110 = 0012
Pn202=1
Pn203=1
/i
Motion Parameter values
UNITS =1
SPEED=200000
ACCEL=1000000
Description
Inertia ratio
No autotuning
Gear ratio numerator
Gear ratio denominator
Description
Working in encoder counts
Speed setting
Acceleration setting
Section 5-1