Advanced Adjustment Functions - Omron R88M-W60010T User Manual

Operation
4-7

Advanced Adjustment Functions

4-7-1 Bias Function (Position)
Functions
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• The bias function shortens positioning time by adding bias revolutions to speed commands (i.e.,
commands to the speed control loop).
• If the residual pulses in the deviation counter exceed the setting in Pn108 (bias addition band), the
speed set in Pn107 (bias rotational speed) is added to the speed command, and when the residual
pulses in the deviation counter are within the setting in Pn108, adding to the number of bias rota-
tions stops.
• By setting the following user constants and providing a bias to the speed command unit in the
Servo Driver, the settling time can be shortened during positioning control.
Parameters Requiring Settings
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Parameter Parameter name
No.
Pn107 Bias rotational speed
Pn108 Bias addition band
Note 1. When not using the bias function, set Pn107 to 0.
Note 2. If the bias rotational speed is set too high, it will cause Servomotor operation to be unstable.
The optimum setting depends on the load, the gain, and the bias addition band, so adjust
the setting while observing the Servomotor response. (Begin with a bias setting of Pn107 =
0, and gradually increase it.)
Setting Procedure
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• Complete the gain adjustment before adjusting the bias.
• Increase the Pn107 (bias rotational speed) setting until positioning time is minimal. At this point, if
there are no problems with using overshoot, adjustments are complete.
• If the overshoot is too large, increase Pn108 (bias addition band) to reduce it.
• To shorten positioning time, make the settings according to the mechanical conditions. The bias
addition band (Pn108) is the value that indicates by position deviation pulses the timing for adding
the bias (Pn107). Bias is added when the position deviation pulses exceed the set value for the bias
addition band.
Explanation
Set the rotation speed to be added to the bias
(setting range: 0 to 450 (r/min.)).
Set the residual pulses to be added to the num-
ber of bias rotations using command units (set-
ting range: 0 to 250 (command units)).
Chapter 4
Reference
4-3-3 Parameter
Details
4-3-3 Parameter
Details
4-103