R7M-AP10030-BS1 Omron, R7M-AP10030-BS1 Datasheet - Page 195

• Manufacturer Part Number: R7M-AP10030-BS1
• Description: MOTORSERVO FLAT 100W W/BRAKE&KEY
• Manufacturer: Omron

Specifications of R7M-AP10030-BS1

• Lead Free Status / Rohs Status: Lead free / RoHS Compliant
• Other names: R7MAP10030BS1

Operation
■
• Setting the gain adjustment rotary switch during online autotuning sets the servo system’s target
• Select a switch setting from the following 10 levels (switches A to F are the same setting) to suit the
Note The servo system loop gain will increase in response to a higher switch setting value, shorten-
4-5-2 Manual Tuning
■
• If online autotuning operations are not effective, tune the system using only the gain adjustment
Low
Medium
High
Response
speed loop gain and position loop gain.
mechanical system.
rotary switch.
Setting the Gain Adjustment Rotary Switch during Online Autotuning
Manually Tuning
ing positioning time. If the setting is too large, however, the machinery may vibrate. Reduce the
setting if vibration is a problem.
• When the load inertia fluctuates below 200 ms or less
• When the rotation speed does not exceed 500 r/min, or when the output torque does not ex-
• When an external force is always imposed, such as with a vertical axis
• When the load rigidity is low, or when the adhesive friction is high
ceed 50% of the rated torque
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Switch
setting
15
20
30
40
60
85
120
160
200
250
250
250
250
250
250
loop gain
Position
(s
–1
)
15
20
30
40
60
85
120
160
200
250
250
250
250
250
250
loop gain
Speed
(Hz)
4,000
3,500
3,000
2,000
1,500
1,000
800
600
500
400
400
400
400
400
400
Speed loop integral
time constant
( × 0.01 ms)
250
200
150
100
70
50
30
20
15
10
10
10
10
10
10
filter time constant
Torque command
( × 0.01 ms)
Articulated robots, harmonic drives,
chain drives, belt drives, rack and
pinion drives, etc.
XY tables, orthogonal robots, gen-
eral-purpose mechanical systems,
etc.
Ball screws (direct couplings), feed-
ers, etc.
(mechanical system)
Typical applications
Chapter 4
4-13