Omron OMNUC G Series User Manual

7-1
7-1 Gain Adjustment
Adjustment Functions
7
7-1 Gain Adjustment
OMNUC G-Series Servo Drives provide realtime autotuning and normal mode autotuning functions.
With these functions, gain adjustments can be made easily even by those who use a servo system
for the first time. Use manual tuning if autotuning does not provide the desired response.
Purpose of the Gain Adjustment
The Servomotor must operate in response to commands from the host system with minimal time
delay and maximum reliability. The gain is adjusted to bring the actual operation of the Servomotor
as close as possible to the operations specified by the commands, and to maximize the
performance of the machine.
Example: Ball screw
Gain Adjustment Methods
Note1. Take sufficient care for safety.
Note2. If there is oscillation (e.g., abnormal sound or vibration), immediately turn OFF the power supply or let the
servo OFF status occur.
Function Explanation
Refer-
ence
page
Automatic
adjustment
Realtime autotuning
Realtime autotuning estimates the load inertia of the
mechanical system in realtime and automatically sets the
optimal gain according to the estimated load inertia.
7-3
Normal mode autotuning
Normal mode autotuning automatically sets the appropriate
gain by operating the Servomotor with the command pattern
generated automatically by the Servo Drive and estimating
the load inertia from the torque required at that time.
7-9
Manual
adjustment
Manual tuning
Manual tuning is performed if autotuning cannot be executed
due to restrictions on the control mode or load conditions, or
if maximum responsiveness needs to be ensured to match
each load.
7-14
Basic procedure
Position control mode adjustment 7-15
Speed control mode adjustment 7-16
Torque control mode adjustment 7-21
Position Loop Gain:
Speed Loop Gain:
Speed Loop Integration
Time Constant:
Speed feed-forward
Inertia Ratio:
20
30
50
0
300
70
50
30
0
300
100
80
20
500
300
+2000
-2000
0
0.0 375250125 0.0 375250125 0.0 375250125
(r/min)
Command speed
Actual Servomotor speed
Low Gain Setting High Gain Setting
High Gain Setting and
Feed-forward Setting
Position Loop Gain:
Speed Loop Integration
Time Constant:
Speed feed-forward
Inertia Ratio:
Speed Loop Gain:
Position Loop Gain:
Speed Loop Integration
Time Constant:
Speed feed-forward
Inertia Ratio:
Speed Loop Gain:

Omron OMNUC G Series Specifications

General

Brand	Omron
Model	OMNUC G Series
Category	Servo Drives
Language	English