Omron R88D-GT series, User Manual

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7-1
7-1 Gain Adjustment
7
Adjustment Functions
7-1 Gain Adjustment
OMNUC G-Series Servo Drives provide realtime autotuning and normal mode autotuning functions.
With these functions, gain adjustments can be made easily even by those who use a servo system
for the first time. If you cannot obtain desired responsiveness with autotuning, use manual tuning.
Purpose of the Gain Adjustment
The Servomotor must operate 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 Servomotor
as close as possible to the operations specified by the commands, and to maximize the
performance of the machine.
Example: Ball screw
Position Loop Gain:
Speed Loop Gain:
Speed Loop Integration
Time Constant:
Speed feed-forward
Inertia Ratio:
20
40
50
0
300
70
50
30
0
300
100
80
20
500
300
+2000
−
2000
0
0.0 375 250 125 0.0 375 250 125 0.0 375 250 125
(r/min)
Command speed
Actual Servomotor speed
Low Gain Setting High Gain Setting
High Gain Setting and
Feed-forward Setting
Position Loop Gain:
Speed Loop Integration
Time Constant:
Speed feed-forward
Inertia Ratio:
Speed Loop Gain:
Position Loop Gain:
Speed Loop Integration
Time Constant:
Speed feed-forward
Inertia Ratio:
Speed Loop Gain: