Omron R88D-KN10F-ECT-L User Manual

11 - 5
11 Adjustment Functions
G5-series Linear Motors/Servo Drives 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
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
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.
P. 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.
P. 10-9
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.
P. 11-15
Basic
procedure
Position control mode adjustment P. 11-16
+2,000
-2,000
[mm/s]
251.0
180.0
6.0
100
300
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
Gain setting: Low Gain setting: High Gain setting: High + feed-forward setting
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 :

Omron R88D-KN10F-ECT-L Specifications

General

Brand	Omron
Model	R88D-KN10F-ECT-L
Category	Servo Drives
Language	English