Omron XTRADRIVE

XtraDrive User Manual Chapter 6: Servo Adjustment
6-1
6. Servo Adjustment
This chapter describes the functions required for servo adjustment. Find the
required information by selecting the section from the following table of
contents.
6.1. Selection of Control Mode..........................................................................6-2
6.2. Analog Input or Contact Input Velocity Control........................................6-3
6.2.1. Principle and Block Diagram of the Velocity Control........................6-3
6.2.2. Parameters of the Velocity Control.....................................................6-4
6.2.3. Setting the Input Gain.........................................................................6-4
6.2.4. Adjusting Offset..................................................................................6-5
6.2.5. Using the Soft Start Function..............................................................6-6
6.2.6. Load Inertia Setting.............................................................................6-7
6.2.7. Adjusting Speed Loop Gain................................................................6-8
6.2.8. Setting the Torque Reference Filter Time Constant ...........................6-9
6.2.9. Notch Filter.........................................................................................6-9
6.2.10. Gain Setting Reference Values .........................................................6-10
6.3. NCT Position Control...............................................................................6-12
6.3.1. Load Inertia Setting...........................................................................6-12
6.3.2. Position Control Block Diagram.......................................................6-14
6.3.3. NCT Gain Parameters.......................................................................6-15
6.3.4. OCA - Oscillation Canceling Algorithm ..........................................6-16
6.3.5. Additional Parameters Tuning..........................................................6-17
6.3.6. Filters ................................................................................................6-17
6.3.7. Flexible System Parameters..............................................................6-18
6.3.8. Gain Factor........................................................................................6-19
6.3.9. Integral Clear Parameters..................................................................6-19
6.3.10. Tuning Procedure for Position Control Parameters..........................6-20
6.4. Analog Monitor.........................................................................................6-22