Omron OMNUC G5 Series User Manual

11-4
11-2 Gain Adjustment
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
11
Adjustment Functions
11-2 Gain Adjustment
OMNUC 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.
Purpose of the Gain Adjustment
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
Gain Adjustment Methods
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.
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
Gain setting: Low Gain setting: High
Gain setting: High + feed-forward 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
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 11-6
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 11-13
Basic procedure Position Control/Fully-closed Control Mode adjustment page 11-14

Omron OMNUC G5 Series Specifications

General

Brand	Omron
Model	OMNUC G5 Series
Category	Servo Drives
Language	English