Omron ACCURAX G5 User Manual page 482

10-3 Manual Tuning
Servo Manual Tuning Method
The following 4 parameters are the basic servo adjustment parameters.
If desired operation characteristics are obtained by adjusting the following 4 parameters, the
adjustments of other parameters are not necessary.
Pn100
Pn101
Pn102
Pn104
Adjustment of Each Parameter
The control loop for the servo consists of, from the outside, a position loop, speed loop and
current loop.
The inner loop is affected by the outer loop, and the outer loop is affected by the inner loop.
What determines the default setting includes the structure and the rigidity of the machine, and
the inertia ratio.
Guide of each parameter for different applications is as follows.
Parameter Settings for Different Applications
Ball screw horizontal
10
Ball screw horizontal
Ball screw horizontal
Ball screw vertical
Ball screw vertical
Ball screw vertical
Ball screw nut rotation horizontal Large
Ball screw nut rotation horizontal Medium Medium 40
Ball screw nut rotation vertical
Ball screw nut rotation vertical
Timing belt
Timing belt
Rack and pinion drives
Rack and pinion drives
Rack and pinion drives
Index table
Index table
Robot arm cylinder
Robot arm cylinder
Other general-purpose
Inertia Ratio (Pn004) is when fixed at 300%.
10-14
Parameter
Parameter name
number
Position Loop Gain
Speed Loop Gain
Speed Loop Integral Time
Constant
Torque Command Filter Time
Constant
Application name Inertia Rigidity
Large
Medium Medium 40
Small
Large
Medium Medium 40
Small
Large
Medium Medium 40
Large
Medium Medium 30
Large
Large
Medium Medium 40
Large
Small
Large
Medium Medium 25
Medium Medium 30
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Default setting
40.0 [1/s]
50.0 Hz
20.0 ms
0.80 ms
Position Speed
loop gain loop gain
[1/s] [Hz]
Low 20 140
80
High 80 60
Low 20 160
80
High 60 60
Low 20 140
100
Low 20 160
120
Low 20 160
120
Low 20 160
Medium 30 120
100
Medium 40 120
High 80 120
Low 15 160
120
100
Parameter number 2
Pn105
Pn106
Pn107
Pn109
Speed loop Torque command
integration filter time constant
time constant [x 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