Omron XTRADRIVE User Manual page 178

XtraDrive User Manual
When the inertia ratio is larger than 10, start gain adjustments with the position and speed loop
•
gains slightly below the ranges given above and the speed loop integral constant slightly over
the range.
When the inertia ratio is much larger, start the gain adjustments with the position and speed
•
loop gains set to the smallest values and the speed loop integral constant to the largest value in
the ranges given above.
In speed control operation, the position loop gain is set through the host
controller. If that is not possible, adjust the position loop gain with the
speed reference input gain in Pn300 in the servo amplifier. In speed
control operation, the position loop gain set in Pn102 is enabled in zero-
clamp mode only. Position loop gain K
following formula.
V
K ≥
p
Where: K
IMPORTANT
s
ε
-1
(s ) : Position Loop Gain
p
V (pps) : Constant Speed Reference
s
ε (Pulse) : Constant Error: The number of accumulated
pulses of the error counter at the above constant
speed.
6-11
Chapter 6: Servo Adjustment
can be obtained from the
p