Omron ACCURAX G5 - Page 480

10-12
10-3 Manual Tuning
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
10
Adjustment Functions
POSITION CONTROL/FULL CLOSING CONTROL Mode Adjustment
Use the following procedure to perform the adjustment in position control for the OMNUC G5
Series.
Write to the EEPROM in the PARAMETER WRITE mode.
Start adjustment.
Ye s
No
Adjustment completed.
Set the realtime autotuning to disabled (Pn002 = 0)
Set each parameter according to the parameter settings for different applications.
Operate based on the normal operation pattern and load.
Are the positioning time and other performances satisfied?
Adjustment completed.
Increase Speed Loop Gain (Pn101) to the extent
that hunching does not occur upon servo lock.
Decrease Speed Loop Integral Time Constant (Pn102) to the extent
that hunching does not occur upon servo lock.
Does hunching (vibration) occur when the motor rotates?
No
Decrease Speed Loop Gain (Pn101).
Increase Speed Loop Integral Time Constant (Pn102).
Increase position loop gain to the extent
that overshooting does not occur.
Ye s
If vibration persists after repeated adjustments
or the positioning is slow:
Increase Torque Command Filter Time Constant (Pn104).
Never adjust or set parameters to extreme values,
as it will make the operation unstable.
Failure to follow this guideline may result in injury.
Gradually change the value to adjust the
gain while checking the motor operation.
Set the vibration frequency in the
Notch Filter 1 Frequency Setting (Pn201),
Notch Filter 2 Frequency Setting (Pn204),
Notch Filter 3 Frequency Setting (Pn207) or
Notch Filter 4 Frequency Setting (Pn210).