Omron OMNUC G5 R88D-KN series, Руководство пользователя

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10-4
10-2 Gain Adjustment
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10
Adj
u
st
me
nt
Func
tions
10-2 Gain Adjustment
OMNUC G5-Series Servo Drives provide the realtime autotuning function.
With this function, 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 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 operations specified by the commands, and to
maximize the performance of the machine.
Example: Ball screw
Gain Adjustment Methods
Precautions for Safe Use
 Take sufficient care for safety.
 If vibration occurs (unusual noise or vibration), immediately turn OFF the power supply or let the
servo OFF status occur.
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
[r/min]
Command speed
Actual motor speed
Position loop gain :
Speed loop gain :
Speed loop integral time constant :
Speed feed-forward
:
Inertia ratio :
Position loop gain :
Speed loop gain :
Speed loop integral time constant :
Speed feed-forward
:
Inertia ratio :
Position loop gain :
Speed loop gain :
Speed loop integral time constant :
Speed feed-forward
:
Inertia ratio :
+
2000
−
2000
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.10-6
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 the maximum responsiveness to match each load is
required.
P.10-13
Basic procedure POSITION CONTROL/FULL CLOSING CONTROL mode adjustment P.10-14
SPEED CONTROL mode adjustment P.10-15
TORQUE CONTROL mode adjustment P.10-20