Omron R88D-KN series User Manual

11-15
11 Adjustment Functions
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
11-4 Manual Tuning
11
11-4-1 Preparation for Manual Tuning
Use the following procedure to perform the adjustment in position control for the Servo Drive.
Position Control Mode Adjustment
Write to the EEPROM in the Parameter Write mode.
Start adjustment.
Yes
No
Adjustment completed.
Disable realtime autotuning (3002 hex = 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 1 (3101 hex) to the extent
that hunting does not occur upon servo lock.
Decrease Speed Loop Integral Time Constant 1 (3102 hex)
to the extent that hunting does not occur upon servo lock.
Does hunting or vibration occur when the motor moves?
No
Decrease Speed Loop Gain 1 (3101 hex).
Increase Speed Loop Integral Time Constant 1 (3102 hex).
Increase position loop gain to the extent
that overshooting does not occur.
Yes
If vibration persists after repeated adjustments
or the positioning is slow:
Increase Force Command Filter Time Constant 1 (3104 hex).
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 damping frequencies in the
Notch 1 Frequency Setting (3201 hex),
Notch 2 Frequency Setting (3204 hex),
Notch 3 Frequency Setting (3207 hex), and
Notch 4 Frequency Setting (3210 hex).

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English