Omron ACCURAX G5 User Manual page 480

10-3 Manual Tuning
POSITION CONTROL/FULL CLOSING CONTROL Mode Adjustment
Use the following procedure to perform the adjustment in position control for the OMNUC G5
Series.
Set the realtime autotuning to disabled (Pn002 = 0)
Set each parameter according to the parameter settings for different applications.
Operate based on the normal operation pattern and load.
Are the positioning time and other performances satisfied?
Increase Speed Loop Gain (Pn101) to the extent
that hunching does not occur upon servo lock.
Decrease Speed Loop Integral Time Constant (Pn102) to the extent
that hunching does not occur upon servo lock.
Does hunching (vibration) occur when the motor rotates?
Increase position loop gain to the extent
10
Write to the EEPROM in the PARAMETER WRITE mode.
10-12
Start adjustment.
No
No
that overshooting does not occur.
Adjustment completed.
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
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 vibration frequency in the
Notch Filter 1 Frequency Setting (Pn201),
Notch Filter 2 Frequency Setting (Pn204),
Notch Filter 3 Frequency Setting (Pn207) or
Notch Filter 4 Frequency Setting (Pn210).