Omron R88D-GT series, Руководство пользователя

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7-24
7-5 Manual Tuning
7
Adjustment Functions
 Speed Control Mode Adjustment
With the OMNUC G Series, adjustments for speed control are almost the same as adjustments for
the position control mode. Use the following procedure to adjust parameters except for setting the
Position Loop Gain and Speed Feed-forward.
Start of adjustment
Disable realtime autotuning (Pn21 = 0 or 7).
Set each parameter to the values in Table 1 (Pn11, Pn12, and Pn14 only).
Set the Inertia Ratio (Pn20) (value calculated at motor selection).
Operate with a normal operating pattern and load.
Speed responsiveness and other operational performance satisfactory?
Yes
No
Increase the Speed Loop Gain (Pn11),
but not so much that it causes hunting when the servo is locked.
Reduce the Speed Loop Integration Time Constant (Pn12),
but not so much that it causes hunting when the servo is locked.
End of adjustment
Yes
No
End of adjustment
Does hunting (vibration) occur when the Servomotor is rotated?
Reduce the Speed Loop Gain (Pn11).
Write the data to EEPROM in the parameter write mode.
Never make extreme adjustment or
changes to settings. Doing so will result
in unstable operation and may lead to
injuries.
Adjust the gain in small increments while
checking Servomotor operation.
Increase the Speed Loop Integration
Time Constant (Pn12).
If vibration does not stop no matter how many times
you perform adjustments, or if positioning is slow:
Increase the Torque Command Filter Time
Constant (Pn14).