R88A-CNG02R Omron, R88A-CNG02R Datasheet - Page 431

• Manufacturer Part Number: R88A-CNG02R
• Description: Encoder Connector INC Motor
• Manufacturer: Omron

Specifications of R88A-CNG02R

• Lead Free Status / Rohs Status: Lead free / RoHS Compliant

Position Control Mode Adjustment
but not so much that it causes hunting when the servo is locked.
Does hunting (vibration) occur when the Servomotor is rotated?
Set the Inertia Ratio (Pn20) (value calculated at motor selection).
Positioning time and other operation performance satisfactory?
but not so much that it causes hunting when the servo is locked.
Operate with a normal operating pattern and load.
Reduce the Speed Loop Integration Time Constant (Pn12),
Write the data to EEPROM in the parameter write mode.
Use the following procedure to make adjustments in position control for the OMNUC G Series.
Set each parameter to the values in Table 1.
Disable realtime autotuning (Pn21 = 0 or 7).
Increase the Speed Loop Gain (Pn11),
but not so much that it causes overshooting.
Increase the Position Loop Gain (Pn10),
Start of adjustment
End of adjustment
No
No
Yes
Yes
If vibration does not stop no matter how many times
you perform adjustments, or if positioning is slow:
Increase the Speed Loop Integration Time
Increase the Torque Command Filter Time
End of adjustment
Reduce the Speed Loop Gain (Pn11).
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.
Constant (Pn12).
Constant (Pn14).
7-5 Manual Tuning
7-22
7