Manual Tuning - Omron R88D-KN01L-ECT-L User Manual

11-4 Manual Tuning

As described before, G5-series Servo Drives have a realtime autotuning function. However, there are
cases where realtime autotuning cannot adjust the gain properly due to restrictions such as load
conditions. Moreover, you may need to ensue optimum responsiveness and stability for each load.
Manual tuning is required in these situations.
This section describes how to perform manual tuning for each control mode and function.
11-4-1 Preparation for Manual Tuning
More reliable adjustment can be performed quickly by using waveform monitoring with the data tracing
function of the CX-Drive or by measuring the analog voltage waveform with the monitor function.
Analog Monitor Output
The Motor Velocity Actual Value, Motor Velocity Demand Value, Force Command, and Following Error
Actual Value can be measured as an analog voltage level using an oscilloscope or other device.
The type of signal to output and the output voltage level are set with Analog Monitor 1 Selection
(3416 hex) and Analog Monitor 2 Selection (3418 hex) settings.
For details, refer to 11-1 Analog Monitor on page 11-2.
CX-Drive Data Tracing Function
Commands to the motor and motor operation (speed, Force Command, and Following Error Actual
Value) can be displayed on a computer as waveforms.
Refer to the CX-Drive Operation Manual (Cat. No. W453).
Connect to CN7.
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
USB communications cable
11 Adjustment Functions
11 - 15
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