Gain Adjustment; Purpose Of The Gain Adjustment; Gain Adjustment Methods - Omron ACCURAX G5 User Manual

10-1 Gain Adjustment

10-1 Gain Adjustment
Accurax G5 Servo Drives provide the realtime autotuning function.
With these functions, gain adjustments can be made easily even by those who use a servo
system for the first time. If you cannot obtain desired responsiveness with autotuning, use
manual tuning.

Purpose of the Gain Adjustment

The driver must operate the motor in response to commands from the host system with
minimal time delay and maximum reliability. The gain is adjusted to bring the actual operation
of the motor as close as possible to the operations specified by the commands, and to
maximize the performance of the machine.
Example: Ball screw
[r/min]
+2000
0
Command speed
−2000
0.0
Position loop gain
Speed loop gain
Speed loop integral time
Speed feed-forward
Inertia ratio
10

Gain Adjustment Methods

Realtime autotuning
Automatic
adjustment
Manual tuning
Manual
adjustment
Note 1.Take sufficient care for safety.
Note 2.If vibration occurs (unusual noise or vibration), immediately turn OFF the power supply or let the servo OFF
status occur.
10-2
Gain setting: Low
Actual motor speed
125 250 375
: 3.0
: 2.5
: 190.0
: 30
: 300
Function
Basic procedure
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Gain setting: High
0.0 125 250 375
Position loop gain : 251.0
Speed loop gain : 140.0
Speed loop integral time : 6.0
Speed feed-forward : 30
Inertia ratio : 300
Explanation
Realtime autotuning estimates the load inertia of the
machine in realtime and automatically sets the optimal gain
according to the estimated load inertia.
Manual adjustment is performed if autotuning cannot be
executed due to restrictions on the CONTROL mode or
load conditions or if ensuring the maximum responsiveness
to match each load is required.
POSITION CONTROL/FULL CLOSING CONTROL mode
adjustment
SPEED CONTROL mode adjustment
TORQUE CONTROL mode adjustment
Gain setting: High + feed-forward setting
0.0 125 250
Position loop gain : 251.0
Speed loop gain : 140.0
Speed loop integral time : 6.0
Speed feed-forward : 100
Inertia ratio : 300
Reference
page
P.10-4
P.10-11
P.10-12
P.10-13
P.10-18
375