Omron OMNUC G5 User Manual page 303

Operating Procedure
1. Adjust the position loop gain and speed loop gain.
Adjust Position Loop Gain (Pn100), Speed Loop Gain (Pn101), Speed Loop Integral Time
Constant (Pn102) and Torque Command Filter Time Constant (Pn104).
If no problem occurs in realtime autotuning, you can continue to use the settings.
2. Measure the vibration frequency at the tip of the mechanical unit.
Measure the vibration frequency using a laser displacement sensor, servo acceleration meter,
acceleration pick-up, etc.
Set the vibration frequency in one of Vibration Frequency 1 to Vibration Frequency 4 (1: Pn214,
2: Pn216, 3: Pn218, 4: Pn220) according to the operation.
Also set the SWITCHING mode using Vibration Filter Selection (Pn213).
If the measurement device cannot be used, use CX-Drive tracing function, and read the
residual vibration frequency (Hz) from the position error waveform as shown in the following
figure.
Command
speed
If vibration persists after setting the frequency, increase or decrease the resonance frequency
to find the frequency at which vibration decreases.
3. Set vibration filter setting.
Set vibration filter setting (1: Pn215, 2: Pn217, 3: Pn219, 4: Pn221).
First, set to 0.
The stabilization time can be reduced by setting a large value; however, torque ripple will
increase at the command change point as shown in the following figure. Set a range that will
not cause torque saturation under actual operation conditions. The effects of vibration
suppression will be lost if torque saturation occurs.
Vibration filter
setting is appropriate.
Torque command
When the Vibration Frequency 1 (Pn214) is set, reduce the setting if torque saturation occurs
or increase the setting to increase operation speed. Normally 0 is set.
If the vibration filter 1 is enabled, use the following setting range.
Setting range: 100 ≤ Pn214 + Pn215 ≤ Pn214 × 2 or 2,000
Note: If the vibration filter 1 is disabled under Vibration Filter Selection (Pn213), this parameter is also
disabled.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
The following gives the vibration frequency in the figure.
Position error
f (Hz) =
Calculate the
vibration frequency.
Since the parameter unit is 0.1 Hz:
(Pn214, Pn216, Pn218, Pn220) = 10 × f
Application example
If the vibration cycle is 100 ms or 20 ms, set 100 or 500
Vibration cycle T
in the parameter so that the vibration frequency
becomes 10 Hz or 50 Hz.
Vibration filter setting is too large.
Torque saturation
6-1 Damping Control
1
T (s)
6
6-3