Omron OMNUC G Series User Manual page 401

 Speed Control Mode Adjustment
With the OMNUC G Series, adjustments for speed control are almost the same as adjustments for
the position control mode. Use the following procedure to adjust parameters.
Start of adjustment
Disable realtime autotuning (Pn021 = 0).
Set each parameter to the values in
Parameter Settings for Different Applications.
Operate with a normal operating pattern and load.
Speed responsiveness and other operational performance satisfactory?
Increase the Speed Loop Gain (Pn011),
but not so much that it causes hunting when the servo is locked.
Reduce the Speed Loop Integration Time Constant (Pn012),
but not so much that it causes hunting when the servo is locked.
Does hunting (vibration) occur when the Servomotor is rotated?
Write the data to EEPROM in the parameter write mode.
End of adjustment
No
No
7-4 Manual Tuning
Never make extreme adjustment or
changes to settings. Doing so will result
in unstable operation and may lead to
injuries.
Adjust the gain in small increments while
checking Servomotor operation.
Yes
End of adjustment
Yes
Reduce the Speed Loop Gain (Pn011).
Increase the Speed Loop Integration
Time Constant (Pn012).
If vibration does not stop no matter how many times
you perform adjustments, or if positioning is slow:
Increase the Torque Command Filter Time
Constant (Pn014).
Set the Notch Filter 1 Frequency (Pn01D) and
the Notch Filter 2 Frequency (Pn028)
to the frequency of a vibrating application.
7
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