Omron R88M-W60010T User Manual page 306

Operation
Parameters Requiring Settings
■
Parameter Parameter name
No.
Pn110.1 Normal autotuning
switches -- Speed
feedback compensa-
tion function selection
Pn111 Speed feedback com-
pensating gain
• Reduce the setting value for Pn111 (speed feedback compensating gain) to increase the speed
loop gain and position loop gain. If the value is too small, the response may vibrate.
• For this function to be used, it is a prerequisite that the inertia ratio (Pn103) value be correctly set.
Make sure that the inertia ratio is set correctly.
Setting Procedure
■
• To perform adjustment, monitor position deviation and torque commands. Either monitor the analog
monitor output or use Computer Monitor Software.
• Follow 4-6-4 Manual Tuning to adjust Pn100 (speed loop gain), Pn101 (speed loop integration con-
stant), Pn102 (position loop gain), and Pn401 (1st step 1st torque command filter time constant) to
quickly set the position deviation to zero without the torque command vibrating.
• After completing tuning, lower Pn111 to 10, and adjust Pn100, Pn101, Pn102, and Pn401 in the
same way.
• Repeat this adjustment procedure and perform optional adjustment.
Adjustment Example
■
Position
deviation output
Position loop
gain (Pn102)
This section describes the adjustment method for when speed loop gain cannot be raised due to
vibration in the mechanical system. If speed loop feedback compensation is added, be sure to moni-
tor position deviation and torque commands with the analog monitor while adjusting the Servo gain.
(Refer to 4-9 Using Monitor Output.)
1.Set user constant Pn110 to 0002.
• Speed feedback compensation will be used.
4-110
To use the speed feedback compensation func-
tion, set Pn110.1 to 0 (speed feedback com-
pensation function ON).
Adjusts the speed loop feedback gain.
Setting range: 1 to 500 (%)
Speed
Speed loop gain,
command
speed loop integra-
tion constant
(Pn100, Pn101)
Speed feedback
compensation function
selection (Pn110.1)
Speed feedback compensation function
Explanation
1st step 1st tor-
que command
filter time con-
stant (Pn401)
Speed feedback
compensation (Pn111)
Chapter 4
Reference
4-3-3 Parameter
Details
4-3-3 Parameter
Details
Torque command
Speed feedback