Omron R88M-K - 11-2 Gain Adjustment

11-5
11 Adjustment Functions
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11-2 Gain Adjustment
11
11-2-1 Purpose of the Gain Adjustment
11-2 Gain Adjustment
G5-Series Servo Drives provide a realtime autotuning function.
With this function, gain adjustments can be made easily even by those using a servo system for the first
time.
If you cannot obtain the desired responsiveness with autotuning, use manual tuning.
The Servo Drive must operate the motor 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 motor as
close as possible to the operation specified by the commands, and to maximize the performance of the
machine.
Example: Ball screw
Precautions for Safe Use
• Take sufficient measures to ensure safety.
• If vibration occurs (unusual noise or vibration), immediately turn OFF the power supply or turn
OFF the servo.
11-2-1 Purpose of the Gain Adjustment
11-2-2 Gain Adjustment Methods
Function Description
Reference
page
Automatic
adjustment
Realtime autotuning Realtime autotuning estimates the load inertia of the machine in
realtime and automatically sets the optimal gain according to the
estimated load inertia.
page 11-7
Manual
adjustment
Manual tuning Manual adjustment is performed if autotuning cannot be executed due
to restrictions on the control mode or load conditions or if ensuring
that the maximum responsiveness matches each load is required.
page 11-15
Basic procedure Position Control/Fully-closed Control Mode adjustment page 11-16
3.0
2.5
190.0
30
300
251.0
140.0
6.0
30
300
0
0.0 375250125 0.0 375250125 0.0 375250125
251.0
180.0
6.0
100
300
G
ain setting: Low
G
ain setting: High
G
ain setting: High +
f
eed-
f
orward setting
[r/min]
Command speed
Actual motor speed
Position loop gain:
Speed loop gain:
Speed loop integral time constant :
Speed feed-forward:
Inertia ratio:
Position loop gain:
Speed loop gain:
Speed loop integral time constant :
Speed feed-forward:
Inertia ratio:
Position loop gain:
Speed loop gain:
Speed loop integral time constant :
Speed feed-forward:
Inertia ratio:
+2000
-2000