Omron R88D-KN series User Manual

11-5
11 Adjustment Functions
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
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
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 in realtime the load characteristic
according to the motor speed and the force command and, according
to the result of the estimation, automatically sets the optimal gain.
It also adds simultaneously the friction force to the force command in
advance to reduce the positioning stabilization time.
page 11-7
Current loop gain Setting the condition for the electric current response value in the
Current Response Auto-adjustment (3912 hex) enables the Current
Loop Proportional Gain (3913 hex) and Current Loop Integral Gain
(3914 hex) values to be set automatically.
page 10-8
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 11-14
Basic procedure Position Control Mode adjustment page 11-15
3.0
2.5
190.0
30
300
251.0
140.0
6.0
30
300
0
0.0 375 250 125 0.0 375 250 125 0.0 375 250 125
251.0
180.0
6.0
100
300
Gain setting: Low Gain setting: High
Gain setting: High + feed-forward setting
[mm/s]
Command speed
Actual motor speed
Position loop gain:
Speed loop gain:
Speed loop integral time constant :
Speed feed-forward:
Mass ratio:
Position loop gain:
Speed loop gain:
Speed loop integral time constant :
Speed feed-forward:
Mass ratio:
Position loop gain:
Speed loop gain:
Speed loop integral time constant :
Speed feed-forward:
Mass ratio:
+2000
-2000

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English