Omron G5 Series User Manual page 439

Internally Set Speed Control Mode Adjustment
The speed control adjustment procedure for OMNUC G5-series Servo Drives (Pulse-train Input Type) is
similar to the position control mode adjustment procedure.
Use the following adjustment procedure.
Disable realtime autotuning (Pn002 = 0).
Set each parameter according to the parameter settings for different applications.
Operate based on the normal operation pattern and load.
Are the speed response and other performances satisfied?
Increase Speed Loop Gain (Pn101) to
the extent that hunting does not occur upon servo lock.
Decrease Speed Loop Integral Time Constant (Pn102)
to the extent that hunting does not occur upon servo lock.
Does hunting or vibration occur when the motor rotates?
Write to the EEPROM in the Parameter Write mode.
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
Start adjustment.
No
No
Adjustment completed.
9 Adjustment Functions
Never adjust or set parameters to extreme
values, as it will make the operation unstable.
Failure to follow this guideline may result in
injury. Gradually change the value to adjust
the gain while checking the motor operation.
Yes
Adjustment completed.
Yes
Decrease Speed Loop Gain (Pn101).
Increase Speed Loop Integral Time Constant (Pn102).
If vibration persists after repeated
adjustments or the positioning is slow:
Increase Torque Command Filter Time Constant (Pn104).
Set the damping frequency in the
Notch 1 Frequency Setting (Pn201),
Notch 2 Frequency Setting (Pn204),
Notch 3 Frequency Setting (Pn207),
or Notch 4 Frequency Setting (Pn210).
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