Omron XTRADRIVE User Manual

XtraDrive User Manual Chapter 6: Servo Adjustment
6-12
6.3. NCT Position Control
Position control can be performed by PULSE TRAIN (Pn000.1=C) or by
SERIAL commands (Pn000.1=D.
XtraDrive provides an automatic tuning function. In case of auto- tuning, only
a rough estimation of load inertia is required. Refer to Section 6.3.2 for the
evaluation of the load inertia, then to Section 5.9.5. for the activation of the
Auto-tuning function.
6.3.1. Load Inertia Setting
In order to use values of loop gains that are closely related to the
physical characteristics of your system, the loop gains are normalized in
Hertz. This normalization of parameters is done according to the
assumed inertia of the system.
Furthermore, the controller includes an automatic set up procedure that
set parameters according to load size. This setting will be satisfactory in
most cases. In case more precise tuning is desired, this first set can be
used as a starting point
You can do a rough estimation of the inertia of the load for your system
and input its value in the Load Inertia Ratio parameter (Pn103).
Set Pn103 to the following value:
Pn103 =
)(JInertia Rotor Servomotor
)(JInertia Motor Load
M
L
x 100%
Parameter Signal Setting (%) Application
Pn103 Inertia Ratio
Setting Range: 0 to 10000
Default Setting: 0
Speed/Torque Control,
Position Control

Omron XTRADRIVE Specifications

General

Brand	Omron
Model	XTRADRIVE
Category	Computer Hardware
Language	English