Omron OMNUC G Series User Manual

7-17
7-4 Manual Tuning
Adjustment Functions
7
 Servo Drive Manual Tuning Procedure
There are four basic adjustment parameters for the Servo Drive.
If the desired operating characteristics can be achieved by adjusting the following four parameters,
you do not need to adjust any other parameter.
 About Parameter Adjustments
There are three Servo Drive control loops: the outermost Position Loop, the Speed Loop, and the
innermost Current Loop. The inner loop is affected by the outer loop and vice versa.
Set the initial values according to the configuration and rigidity of the machine, inertia ratio, and
other factors.
Referential parameter settings for different applications are provided below.
Parameter Settings for Different Applications
 The Inertial Ratio (Pn020) is fixed at 300%.
Parameter No. Parameter Name Default Value 2nd Parameter No.
Pn010 Position Loop Gain 40.0[1/s] Pn018
Pn011 Speed Loop Gain 50.0Hz Pn019
Pn012
Speed Loop Integration Time
Constant
20.0ms Pn01A
Pn014
Torque Command Filter Time
Constant
0.80ms Pn01C
Application Inertia Rigidity
Position
Loop Gain
[1/s]
Speed Loop
Gain [Hz]
Speed Loop
Integration
Time Con-
stant
Torque Command
Filter Time Constant
[
 0.01 ms]
Ball screw, horizontal Large Low 20 140 35 160
Ball screw, horizontal Medium Medium 40 80 20 100
Ball screw, horizontal Small High 806015 80
Ball screw, vertical Large Low 20 160 45 160
Ball screw, vertical Medium Medium 40 80 30 120
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 & pinion Large Low 20 160 60 160
Rack & pinion Large Medium 30 120 40 120
Rack & pinion Medium Medium 40 100 20 100
Index table Large Medium 40 120 25 120
Index table Small High 80 120 20 100
Robot arm, cylindrical Large Low 15 160 60 160
Robot arm, cylindrical Medium Medium 25 120 40 120
General purpose Medium Medium 30 100 30 150

Omron OMNUC G Series Specifications

General

Brand	Omron
Model	OMNUC G Series
Category	Servo Drives
Language	English