Omron OMNUC 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.
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
Ball screw nut rotation horizontal Medium Medium
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%.
10-13
Parameter
Parameter name
number
Pn100 Position Loop Gain
Pn101 Speed Loop Gain
Speed Loop Integral Time
Pn102
Torque Command Filter Time
Pn104
Application name Inertia Rigidity
Large
Medium Medium
Small
Large
Medium Medium
Small
Large
Large
Medium Medium
Large
Medium Medium
Large
Large
Medium Medium
Large
Small
Large
Medium Medium
Medium Medium
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Default setting
40.0 [1/s]
50.0 Hz
20.0 ms
Constant
0.80 ms
Constant
Position
loop gain
[1/s]
Low 20
40
High 80
Low 20
40
High 60
Low 20
40
Low 20
40
Low 20
30
Low 20
Medium 30
40
Medium 40
High 80
Low 15
25
30
Parameter number 2
Pn105
Pn106
Pn107
Pn109
Speed Speed loop Torque command
loop gain integration filter time constant
[Hz] time constant
140 35
80 20
60 15
160 45
80 30
60 20
140 40
100 30
160 45
120 25
160 60
120 40
160 60
120 40
100 20
120 25
120 20
160 60
120 40
100 30
[x 0.01 ms]
160
100
80
160
120
100
160
120
160
120
160
120
160
120
100
120
100
160
120
150