Operating Procedure - Omron G5 Series User Manual

6-16-3 Operating Procedure

1
Set Inertia Ratio 1 (Pn004).
Set the inertia ratio as correctly as possible.
• If Inertia Ratio 1 (Pn004) is obtained in realtime auto gain tuning, use the set value as is.
• If the inertia ratio is calculated for the selected motor, input the calculated value.
• If the inertia ratio is not known, perform autotuning and set the inertia ratio.
2
Adjust the position loop gain and the speed loop gain.
Adjust Position Loop Gain (Pn100), Speed Loop Gain (Pn101), Speed Loop Integral Time
Constant (Pn102), and Torque Command Filter Time Constant (Pn104).
If no problem occurs in realtime autotuning, you can continue to use the settings.
3
Set Function Expansion Setting (Pn610).
Set whether to enable or disable the instantaneous speed observer function in bit 0.
0: Disabled
1: Enabled
If you set this to 1 (enabled), the speed detection method switches to the instantaneous speed
observer.
• If the machine operating noise or vibration increases, or fluctuations in the torque monitor
waveform increase significantly enough to cause a problem, return the setting to 0 and make
sure that the inertia ratio or the adjustment parameters are correct.
• If the machine operating noise or vibration decreases, or fluctuations in the torque monitor
waveform decrease, make small adjustments to Inertia Ratio 1 (Pn004) to find the setting that
makes the smallest fluctuations, while monitoring the position error waveform and the actual
speed waveform.
• If Position Loop Gain (Pn100), Speed Loop Gain (Pn101), or Speed Loop Integral Time
Constant (Pn102) is changed, the optimal value for Inertia Ratio 1 (Pn004) may change, so
make small adjustments to the value in Inertia Ratio 1 (Pn004) again to set a value that
makes the smallest fluctuations.
Precautions for Correct Use Precautions for Correct Use
Damping control may not function properly or have no effect under the following conditions.
• The margin of error with the actual device is large for the inertia load.
• Equipment has more than one resonance frequency.
• There is a large resonance point at a frequency of 300 Hz or lower.
• There is a non-linear element (play), such as a large backlash.
• The load inertia changes.
• A large disturbance torque with high-frequency content is applied.
• The positioning setting range is small.
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
6 Applied Functions
6 - 51
6