Omron R88D-KT Series User Manual

10-1
10-1 Gain Adjustment
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
10
Adjustment Functions
10-1 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
Note 1.Take sufficient measures to ensure safety.
Note 2.If vibration occurs (unusual noise or vibration), immediately turn OFF the power supply or turn OFF the servo.
Position loop gain :
Speed loop gain :
Speed loop integral time :
Speed feed-forward :
Inertia ratio :
3.0
2.5
190.0
30
300
Position loop gain :
Speed loop gain :
Speed loop integral time :
Speed feed-forward :
Inertia ratio :
251.0
140.0
6.0
30
300
Position loop gain :
Speed loop gain :
Speed loop integral time :
Speed feed-forward :
Inertia ratio :
251.0
140.0
6.0
100
300
+2000
−2000
0
0.0 375250125 0.0 375250125 0.0 375250125
[r/min]
Command speed
Actual motor speed
Gain setting: Low Gain setting: High Gain setting: High + feed-forward setting
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.
P.10-3
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.10-10
Basic procedure Position Control/Fully-closed Control Mode adjustment P.10-11
Speed Control Mode adjustment P.10-12
Torque Control Mode adjustment P.10-17

Omron R88D-KT Series Specifications

General

Brand	Omron
Model	R88D-KT Series
Category	Servo Drives
Language	English