Omron OMNUC G5 R88M-K series User Manual page 367

Servo Manual Tuning Method
The following 4 parameters are the basic servo adjustment parameters.
If desired operation characteristics are obtained by adjusting the following 4 parameters, the
adjustments of other parameters are not necessary.
Parameter
number
Pn100
Pn101
Pn102
Pn104
Adjustment of Each Parameter
The control loop for the servo consists of, from the outside, a position loop, speed loop and
current loop.
The inner loop is affected by the outer loop, and the outer loop is affected by the inner loop.
What determines the default setting includes the structure and the rigidity of the machine, and
the inertia ratio.
Guide of each parameter for different applications is as follows.
Parameter Settings for Different Applications
Application name
Ball screw horizontal
Ball screw horizontal
Ball screw horizontal
Ball screw vertical
Ball screw vertical
Ball screw vertical
Ball screw nut rotation horizontal
Ball screw nut rotation horizontal Medium Medium
Ball screw nut rotation vertical
Ball screw nut rotation vertical
Timing belt
Timing belt
Rack and pinion drives
Rack and pinion drives
Rack and pinion drives
Index table
Index table
Robot arm cylinder
Robot arm cylinder
Other general-purpose
 Inertia Ratio (Pn004) is when fixed at 300%.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Parameter name
Position Loop Gain 1
Speed Loop Gain 1
Speed Loop Integral Time
Constant 1
Torque Command Filter Time
Constant 1
Position
Inertia Rigidity loop gain
[1/s]
Large Low
Medium Medium
Small High
Large Low
Medium Medium
Small High
Large Low
Large Low
Medium Medium
Large Low
Medium Medium
Large Low
Large Medium
Medium Medium
Large Medium
Small High
Large Low
Medium Medium
Medium Medium
10-4 Manual Tuning
Default setting Parameter number 2
40.0 [1/s]
50.0 Hz
20.0 ms
0.80 ms
Speed Speed loop
loop gain integration
[Hz] time constant
20 140 35
40 80 20
80 60 15
20 160 45
40 80 30
60 60 20
20 140 40
40 100 30
20 160 45
40 120 25
20 160 60
30 120 40
20 160 60
30 120 40
40 100 20
40 120 25
80 120 20
15 160 60
25 120 40
30 100 30
Pn105
Pn106
Pn107
Pn109
Torque command
filter time constant
[x 0.01 ms]
160
100
80
160
120
100
160
120
160
120
160
120
160
120
100
120
100
160
120
150
10-16
10