Omron ACCURAX G5 - Page 482

10-14
10-3 Manual Tuning
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
10
Adjustment Functions
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
 Inertia Ratio (Pn004) is when fixed at 300%.
Parameter
number
Parameter name Default setting Parameter number 2
Pn100 Position Loop Gain 40.0 [1/s] Pn105
Pn101 Speed Loop Gain 50.0 Hz Pn106
Pn102
Speed Loop Integral Time
Constant
20.0 ms Pn107
Pn104
Torque Command Filter Time
Constant
0.80 ms Pn109
Application name Inertia Rigidity
Position
loop gain
[1/s]
Speed
loop gain
[Hz]
Speed loop
integration
time constant
Torque command
filter time constant
[x 0.01 ms]
Ball screw horizontal Large Low 20 140 35 160
Ball screw horizontal
Medium Medium 40 8020100
Ball screw horizontal Small High 80601580
Ball screw vertical Large Low 20 160 45 160
Ball screw vertical
Medium Medium 40 8030120
Ball screw vertical Small High 60 60 20 100
Ball screw nut rotation horizontal Large Low 20 140 40 160
Ball screw nut rotation horizontal Medium Medium 40 100 30 120
Ball screw nut rotation vertical Large Low 20 160 45 160
Ball screw nut rotation vertical Medium Medium 40 120 25 120
Timing belt Large Low 20 160 60 160
Timing belt
Medium Medium 30 120 40 120
Rack and pinion drives Large Low 20 160 60 160
Rack and pinion drives Large
Medium 30 120 40 120
Rack and pinion drives
Medium Medium 40 100 20 100
Index table Large
Medium 40 120 25 120
Index table Small High 80 120 20 100
Robot arm cylinder Large Low 15 160 60 160
Robot arm cylinder
Medium Medium 25 120 40 120
Other general-purpose
Medium Medium 30 100 30 150