![background image](http://html1.mh-extra.com/html/omron/omnuc-g5-r88d-kn-series/omnuc-g5-r88d-kn-series_user-manual_742785367.webp)
10-16
10-4 Manual Tuning
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10
Adj
u
st
me
nt
Func
tions
Servo Manual Tuning Method
The following 4 parameters are the basic servo adjustment parameters.
If desired operation characteristics are obtained by adjusting the following 4 parameters, the
adjustments of other parameters are not necessary.
Adjustment of Each Parameter
The control loop for the servo consists of, from the outside, a position loop, speed loop and
current loop.
The inner loop is affected by the outer loop, and the outer loop is affected by the inner loop.
What determines the default setting includes the structure and the rigidity of the machine, and
the inertia ratio.
Guide of each parameter for different applications is as follows.
Parameter Settings for Different Applications
Inertia Ratio (Pn004) is when fixed at 300%.
Parameter
number
Parameter name
Default setting
Parameter number 2
Pn100
Position Loop Gain 1
40.0 [1/s]
Pn105
Pn101
Speed Loop Gain 1
50.0 Hz
Pn106
Pn102
Speed Loop Integral Time
Constant 1
20.0 ms
Pn107
Pn104
Torque Command Filter Time
Constant 1
0.80 ms
Pn109
Application name
Inertia Rigidity
Position
loop gain
[1/s]
Speed
loop gain
[Hz]
Speed loop
integration
time constant
Torque command
filter time constant
[x 0.01 ms]
Ball screw horizontal
Large
Low
20
140
35
160
Ball screw horizontal
Medium Medium
40
80
20
100
Ball screw horizontal
Small
High
80
60
15
80
Ball screw vertical
Large
Low
20
160
45
160
Ball screw vertical
Medium Medium
40
80
30
120
Ball screw vertical
Small
High
60
60
20
100
Ball screw nut rotation horizontal
Large
Low
20
140
40
160
Ball screw nut rotation horizontal Medium Medium
40
100
30
120
Ball screw nut rotation vertical
Large
Low
20
160
45
160
Ball screw nut rotation vertical
Medium Medium
40
120
25
120
Timing belt
Large
Low
20
160
60
160
Timing belt
Medium Medium
30
120
40
120
Rack and pinion drives
Large
Low
20
160
60
160
Rack and pinion drives
Large
Medium
30
120
40
120
Rack and pinion drives
Medium Medium
40
100
20
100
Index table
Large
Medium
40
120
25
120
Index table
Small
High
80
120
20
100
Robot arm cylinder
Large
Low
15
160
60
160
Robot arm cylinder
Medium Medium
25
120
40
120
Other general-purpose
Medium Medium
30
100
30
150
Содержание OMNUC G5 R88D-KN series
Страница 22: ......
Страница 164: ......
Страница 228: ......
Страница 274: ......
Страница 342: ......
Страница 392: ......
Страница 432: ......
Страница 450: ......
Страница 451: ...I OMNUC G5 Series AC Servo Drives Users Manual Built in MECHATROLINK II communications type Index ...
Страница 456: ......
Страница 457: ......