Omron G5 Series User Manual page 440

9 Adjustment Functions
Servo Manual Tuning Method
There are four basic servo adjustment parameters as shown in the table below.
If the intended operation characteristics are obtained by adjusting the following 4 parameters, the
adjustments of other parameters are not necessary.
Parameter No.
Pn100
Pn101
Pn102
Pn104
Adjustment of Each Parameter
The servo control loop consists of, from the outside, the position loop, the speed loop, and the current
loop in this order.
An inner loop is influenced by outer loops and an outer loop is influenced by inner loops, respectively.
Determine the initial value for each parameter based on the machine configuration and rigidity, inertia
ratio, and other aspects.
Use the following table as a guide to determine the parameter settings for each application.
Parameter Settings for Each Application
Application name
Ball Screw Horizontal
Ball Screw Horizontal
Ball Screw Horizontal
Ball Screw Vertical
Ball Screw Vertical
Ball Screw Vertical
Ball Screw Nut Rotation Horizontal
Ball Screw Nut Rotation Horizontal
Ball Screw Nut Rotation Vertical
Ball Screw Nut Rotation Vertical
Timing Belt
Timing Belt
Rack and Pinion
Rack and Pinion
Rack and Pinion
Index Table
Index Table
Robot Arm Cylindrical
Robot Arm Cylindrical
Other General Uses
• The above values assume that Inertia Ratio 1 (Pn004) is fixed to 300%.
9 - 14
Name
Position Loop Gain
Speed Loop Gain
Speed Loop Integral Time Constant
Torque Command Filter Time Constant
Inertia Rigidity
Large Low
Medium Medium
Small High
Large Low
Medium Medium
Small High
Large Low
Medium Medium
Large Low
Medium Medium
Large Low
Medium Medium
Large Low
Large Medium
Medium Medium
Large Medium
Small High
Large Low
Medium Medium
Medium Medium
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
Default value
48.0 [1/s]
27.0 Hz
21.0 ms
0.84 ms
Speed Loop
Position Speed
Loop Gain Loop Gain
[1/s] [Hz]
20 140
40 80
80 60
20 160
40 80
60 60
20 140
40 100
20 160
40 120
20 160
30 120
20 160
30 120
40 100
40 120
80 120
15 160
25 120
30 100
2nd parameter No.
Pn105
Pn106
Pn107
Pn109
Torque
Command
Integral
Filter Time
Time
Constant
Constant
[× 0.01 ms]
35 160
20 100
15 80
45 160
30 120
20 100
40 160
30 120
45 160
25 120
60 160
40 120
60 160
40 120
20 100
25 120
20 100
60 160
40 120
30 150