Gain Adjustment; Purpose Of The Gain Adjustment; Gain Adjustment Methods - Omron OMNUC G5 R88M-K series User Manual

10-2 Gain Adjustment

OMNUC G5-Series Servo Drives provide the realtime autotuning function.
With this function, gain adjustments can be made easily even by those who use a servo system
for the first time. If you cannot obtain desired responsiveness with autotuning, use manual
tuning.

Purpose of the Gain Adjustment

The Servo Drive must operate the motor in response to commands from the host system with
minimal time delay and maximum reliability. The gain is adjusted to bring the actual operation
of the motor as close as possible to the operations specified by the commands, and to
maximize the performance of the machine.
Example: Ball screw
Gain setting: Low
[r/min]
+2000
0
Actual motor speed
Command speed
−2000
0.0 125
Position loop gain
Speed loop gain
Speed loop integral time constant :
Speed feed-forward
Inertia ratio

Gain Adjustment Methods

Function
Realtime autotuning
Automatic
adjustment
Manual tuning
Manual
adjustment
Basic procedure
Precautions for Safe Use
Take sufficient care for safety.
If vibration occurs (unusual noise or vibration), immediately turn OFF the power supply or let the
servo OFF status occur.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Gain setting: High
250 375 0.0 125
: 3.0 Position loop gain
: 2.5 Speed loop gain
190.0 Speed loop integral time constant :
: 30 Speed feed-forward
: 300 Inertia ratio
Realtime autotuning estimates the load inertia of the machine in
realtime and automatically sets the optimal gain according to the
estimated load inertia.
Manual adjustment is performed if autotuning cannot be executed
due to restrictions on the CONTROL mode or load conditions or if
ensuring the maximum responsiveness to match each load is
required.
POSITION CONTROL/FULL CLOSING CONTROL mode adjustment
SPEED CONTROL mode adjustment
TORQUE CONTROL mode adjustment
10-2 Gain Adjustment
Gain setting: High + feed-forward setting
250 375 0.0 125
: 251.0 Position loop gain
: 140.0 Speed loop gain
6.0 Speed loop integral time constant :
: 30 Speed feed-forward
: 300 Inertia ratio
Description
250 375
: 251.0
: 180.0
6.0
: 100
: 300
10
Reference
page
P.10-6
P.10-13
P.10-14
P.10-15
P.10-20
10-4