Gain Factor; Integral Clear Parameters - Omron XTRADRIVE User Manual

XtraDrive User Manual
6.3.8.

Gain Factor

• Tightness (Pn1A0), Range 0-500[%], Default 60:
This parameter changes the frequencies of feedback parameter
linearly, keeping their relative ratio, so that system rigidity can be
changed without getting unstable. A good starting value is 60[%].
After setting the default values for load, one can increase or
decrease the stiffness of the servo control by changing this
parameter.
This can be done while monitoring the position error during the
movement and thus choosing the optimal value for the system
application.
• Maximum of Variable Gain MAXKG (Pn1B5), Range 100-1000
[%], Default 160:
This parameter sets the maximum variable gain during movement.
To cancel variable gain, set this parameter to 100[%]. To use
variable gain, increase it, usually 160-200% is enough. If one sets
this parameter to 200%, it means that gain can be raised to 200% of
the written parameter value during movement.
6.3.9.

Integral Clear Parameters

• Integral Clear Mode (Pn1A7, digit 0):
This parameter activates a special treatment of integral at the end of
a decelerating ramp.
When using a command having a trapezoid speed profile, at the end
of the deceleration there is a discontinuity of acceleration; at this
point, deceleration abruptly changes its value from maximum to
zero. Normally, this would create an overshoot of the system. This
discontinuity is compensated by addition of a calculated value to the
integral at that particular time, thus avoiding the overshoot.
Software detects the end of a command deceleration phase,
calculates the compensating value and adds it to the integral.
o In case of point-to-point movements with trapezoid profile: set to 1.
o In case of very smoothed command acceleration: reset to zero.
• Integral clear timing (Pn1BF), Range 1-15, Default 3:
This parameter defines the timing of a clear integral. Reducing this
parameter will delay the clear integral, and increasing will speed up
the clear integral.
• Integral Offset Averaging Time (Pn1C0), Range 0-25[ms],
Default 0:
This parameter defines the time needed to calculate a steady torque
at stop.This value is used to execute a more precise integral
modification at the end of the movement.
In horizontal systems, this parameter should be zero.
Chapter 6: Servo Adjustment
6-19