1-10
1-3 Special Adjustment Parameters
Gains and adjustment parameters for all OMRON Servo Drivers are described below.
The auto-tuning function incorporated by the U Series allows easy automatic gain ad-
justment according to the machine system.
H Auto-tuning Function (U Series)
• The auto-tuning function allows automatic gain adjustment according to the load while operating the
machine system.
• The ideal adjustment according to the rigidity of the machine system will be possible by just selecting
the response characteristics if the auto-tuning function is used. It is thus recommended that this func-
tion be used as much as possible.
• The auto-tuning function is available to all machine systems except the following, which may require
manual adjustment.
Machine systems with heavy friction
Machine system with low rigidity
H Semi-auto-tuning Function (H Series)
• The semi-auto-tuning function makes it possible to adjust the speed loop proportional gain and inte-
gral gain by just setting the load inertia ratio to the rotor inertia ratio of the motor.
• The most suitable gain according to the inertia ratio is preset as a table.
• Manual adjustment is required for machine systems with heavy friction or low rigidity.
• The position loop requires adjustment according to the machine system. The semi-auto-tuning func-
tion does not perform position loop adjustment.
H AC Gain (R Series)
• The AC gain is used to adjust the speed loop proportional gain and integral gain simultaneously.
• The ratio of the proportional gain to integral gain is fixed.
Compensating force
Change in Response Characteristics vs. AC Gain
Frequency (operating speed)
Gain Adjustment Chapter 1
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