Omron R88D-GT series, Руководство пользователя

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7-2
7-1 Gain Adjustment
7
Adjustment Functions
Gain Adjustment Methods
Note 1. Take sufficient care for safety.
Note 2. If oscillation occurs (e.g., abnormal sound or vibration), immediately turn OFF the power supply or let the
servo OFF status occur.
Function Explanation
Refer-
ence
page
Automatic
adjust-
ment
Realtime autotuning
Realtime autotuning estimates the load inertia of the me-
chanical system in realtime and automatically sets the
optimal gain according to the estimated load inertia.
7-4
Fit gain function
The fit gain function automatically searches for the appropri-
ate rigidity setting by repeating input of an operation with a
specified pattern to automatically make the rigidity setting for
realtime autotuning when position control is performed.
7-7
Adaptive filter
The adaptive filter reduces resonance point vibration by
estimating the resonance frequency from the vibration com-
ponent that appears in the Servomotor speed during actual
operation and automatically sets the coefficient of the notch
filter, which removes the resonance component from the
torque command.
7-11
Normal Mode Autotuning
Normal mode autotuning automatically sets the appropriate
gain by operating the Servomotor with the command pattern
automatically generated by the Servo Drive and estimating
the load inertia from the torque required at that time.
7-14
Automatic gain adjustment reset
This function disables the default settings for realtime auto-
tuning and the adaptive filter.
7-19
Manual
adjust-
ment
Manual tuning (basic)
Manual tuning 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.
Basic procedure
Position control mode adjustment 7-22
Speed control mode adjustment 7-24
Torque control mode adjustment 7-25
Gain switching
Gain switching can be used with internal data or external sig-
nals to perform such actions as reducing vibration at stop-
ping, shortening stabilization time, and improving command
follow-up.
7-26
Machine resonance suppression
It is sometimes not possible to set the gain high because of
vibration or sound due to resonance caused by shaft contor-
tion when the machine rigidity is low. In these cases, two
types of filters can be used to suppress resonance.
7-30
Automatic gain setting
This function initializes control parameters and gain switch-
ing parameters to settings that match the normal mode auto-
tuning rigidity parameters before manual tuning is
performed.
7-32
Manual tuning (application)
The following application functions can be used to further
improve performance if the specifications cannot be satisfied
using basic adjustment.
Instantaneous speed observer
The instantaneous speed observer both increases respon-
siveness and reduces vibration at stopping by estimating the
Servomotor speed using a load model and improving the
speed detection accuracy.
7-33
Damping control
Damping control reduces vibration by removing the vibration
frequency component from the command when the end of
mechanisms or devices vibrates.
7-35