Omron R88M-W60010T User Manual page 296

Operation
4-6-4 Manual Tuning
Rigidity Settings During Tuning
■
• If the gain is adjusted as an initial setting using manual tuning, tuning can be performed compara-
tively quickly. Therefore it is recommended that the rigidity be set first.
• Select the rigidity setting to suit the mechanical system from the following 10 levels.
• The speed loop handles both PI and I-P control.
Switching between PI and I-P control is performed by means of the Pn10B.1 setting. Setting
Pn10B.1 to 0 switches to PI control, and setting it to 1 switches to I-P control. The new setting is
enabled by turning the power OFF and back ON after the setting has been made.
1.Speed Loop PI Control
Response Rigidity
setting
Low 01
02
03
Medium 04
High 05
06
07
08
09
10
Note Make sure that the location of the decimal point is correct when setting the parameters.
2.Speed Loop I-P Control
Response Rigidity
setting
Low 01
02
03
Medium 04
4-100
Position Speed loop
loop gain gain
− 1
(Hz)
(s )
Pn100
Pn102
15.0 15.0
20.0 20.0
30.0 30.0
40.0 40.0
60.0 60.0
80.0 80.0
100.0 100.0
120.0 120.0
140.0 140.0
160.0 160.0
Position Speed loop
loop gain gain
− 1
(Hz)
(s )
Pn100
Pn102
15.0 15.0
20.0 20.0
30.0 30.0
40.0 40.0
Speed loop 1st step 1st
integration torque
constant command
(ms) filter time
Pn101 constant
(ms)
Pn401
60.00 2.50
45.00 2.00
30.00 1.30
20.00 1.00
15.00 0.70
10.00 0.50
8.00 0.40
7.00 0.35
6.00 0.30
5.00 0.25
Speed loop 1st step 1st
integration torque
constant command
(ms) filter time
Pn101 constant
(ms)
Pn401
18.00 2.50
14.00 2.00
9.00 1.30
7.00 1.00
Chapter 4
Representative
applications (mechanical
system)
Articulated robots, har-
monic drives, chain drives,
belt drives, rack and pinion
drives, etc.
XY tables, Cartesian-coor-
dinate robots, general-pur-
pose machinery, etc.
Ball screws (direct cou-
pling), feeders, etc.
Representative
applications (mechanical
system)
Articulated robots, har-
monic drives, chain drives,
belt drives, rack and pinion
drives, etc.
XY tables, Cartesian-coor-
dinate robots, general-pur-
pose machinery, etc.