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1-5
1-2
Gain Adjustment
Gain adjustment is indispensable to the functionality of the Servo System. If the gain
adjustment of the Servo System is insufficient, the performance of the Servo System will
be unsatisfactory and the Servo System will therefore cause machine vibration or not
ensure precise positioning. Adjust the current loop, speed loop, and position loop gains
of the Servo System in this order. The current loop is, however, adjusted before ship-
ping. The user, therefore, need not adjust any parameter of the current loop.
1-2-1 Gain Adjustment Procedure
The following describes the gain adjustment procedure for the Servo System.
1. Speed Loop Adjustment
S
Speed loop proportional gain
S
Speed loop integral gain (Speed loop integral time constant)
S
Current loop command filter
Basic adjustments of the Servo System are possible with the proportional and integral gains only, in
which case however, the machine system may not stop vibrating or may have a slow positioning
operation due to insufficient gains. If the machine system has a slow positioning operation or does
not stop vibrating, adjust the filter time constant of the current loop.
2. Position Loop Adjustment
S
Position loop proportional gain
This gain adjustment is required only for pulse-train input and is irrelevant to analog input.
1-2-2 Relationship between Gain Adjustment and Response
H
Speed Loop Adjustment
The following graph indicates how the response characteristics (i.e., the frequency characteristics) of
the Servo System will vary with changes in the speed loop gain and adjustment parameter value.
C
om
pe
ns
at
in
g
fo
rc
e
Strong
Weak
Speed loop integral gain
(Changes the strength
in low frequencies.)
Speed loop proportional gain
(Changes the total strength.)
Slow action
Frequency (Operating speed)
Current command filter
(Changes the strength
in high frequencies.)
Quick action
In the above graph, the X axis indicates frequency (movement speed) and the Y axis indicates compen-
sating force for reducing the difference between the response and command as much as possible.
Gain Adjustment
Chapter 1
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