Gain Parameters - Omron OMNUC G5 R88M-K series User Manual

8-2 Gain Parameters

Refer to "10-2 Gain Adjustment (P.10-4)" for the settings for gain adjustment.
Pn100
Position Loop Gain 1
Setting
0 to 30000
range
*1.It is 320 for a Drive with 200 V and 1 kW or greater, or with 400 V.
 Set the position loop response in accordance with the machine rigidity.
 The responsiveness of the servo system is determined by the position loop gain.
 Servo systems with a high position loop gain have a high responsiveness and fast positioning.
To increase the position loop gain, you must improve machine rigidity and increase the specific
damping frequency. This should be 500 to 700 (0.1/s) for ordinary machine tools, 300 to 500 (0.1/
s) for general-use and assembly machines, and 100 to 300 (0.1/s) for industrial robots. The default
position loop gain is 480 (0.1/s), so be sure to lower the set value for machines with low machine
rigidity.
 Increasing the position loop gain in systems with low machine rigidity or systems with low specific
damping frequencies may cause machine resonance, resulting in an overload alarm.
 If the position loop gain is low, you can shorten the positioning time using feed forward.
 This parameter is automatically changed by executing realtime autotuning function. To set it
manually, set the REALTIME AUTOTUNING mode Selection (Pn002) to 0.
Position loop gain is generally expressed as follows:
Position loop gain (Kp) =
Response when the position loop gain is operated
Motor speed
 If the speed loop gain and position loop gain are optimally set, the motor operation for the
command delays 2/Kp at acceleration and delays 3/Kp at deceleration.
Motor speed
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Unit
Command pulse frequency (pulse/s)
Error counter accumulated pulse (pulse)
Position loop gain is high.
Position loop gain is low.
2
Kp
Position
command
Motor operation
Default
0.1/s
setting
Time
3
Kp

8-2 Gain Parameters

Position Full closing
Data
*1
480 B
attribute
(0.1/s)
Time
8-8
8