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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 the realtime autotuning function.
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 driver 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
Note 1. Take sufficient care for safety.
Note 2. If vibration occurs (unusual noise or vibration), immediately turn OFF the power supply or let the servo OFF
status occur.
Position loop gain :
Speed loop gain :
Speed loop integral time constant :
Speed feed-forward
:
Inertia ratio :
20
30
50
0
300
Position loop gain :
Speed loop gain :
Speed loop integral time constant :
Speed feed-forward
:
Inertia ratio :
70
50
30
0
300
Position loop gain :
Speed loop gain :
Speed loop integral time constant :
Speed feed-forward
:
Inertia ratio :
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 motor speed
Gain setting: Low Gain setting: High Gain setting: High
+
feed-forward setting
Function Explanation
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 the maximum responsiveness
to match each load is required.
P.10-10
Basic procedure POSITION CONTROL/FULL CLOSING CONTROL mode
adjustment
P.10-11
SPEED CONTROL mode adjustment P.10-12
TORQUE CONTROL mode adjustment P.10-17