Omron R88M-W User Manual page 366

Operation
H Manual Tuning Procedure (During Position Control)
• Use the following procedure to perform operation with position control (pulse train input).
Note Turn OFF online auto-tuning (Pn110.0 = 2).
Turn OFF online auto-tuning (Pn110.0 = 2)
Turn ON the power (to enable Pn110.0 setting).
Set Pn103 (inertia ratio) Calculated during Servomotor selection.
Set rigidity (Fn001) for online auto-tuning.
Is Servomotor hunting (and growling) with servo locked?
Increase rigidity setting (Fn001) until there is no hunting.
Reduce rigidity setting (Fn001) by 1.
Run under normal operating pattern and load.
Positioning time, etc., satisfactory?
Increase Pn100 (speed loop gain) until there is no
hunting with Servolock ON.
Reduce Pn101 (speed loop integration constant until
there is no hunting with Servolock ON.
Any hunting (vibration) when the Servomotor rotates?
Rotate Servomotor and monitor operation.
Increase Pn102 (position loop gain) until there is no overshooting.
Adjustment complete
4-106
Start
(See note.)
Note Do not perform extreme adjustment and setting changes
as they may destabilize the operation. Adjust the gain a
little at a time while checking the Servomotor operation.
Reduce rigidity setting (Fn001) until there is no hunting.
Adjustment complete
Pn101 setting target
1
Pn101 = (2.3 to 4) x
2π x Pn100
Reduce Pn100 (speed loop gain).
Increase Pn101 (speed loop integration constant).
Note If vibration does not cease no matter how many times you
perform adjustments, or if positioning is slow:
Increase Pn401 (torque command filter time constant)
Chapter 4
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