R7M-AP10030-BS1 Omron, R7M-AP10030-BS1 Datasheet - Page 201

• 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
• Adjust the position loop response to suit the mechanical rigidity of the system.
• Servo system response is determined by the position loop gain. Servo systems with a high loop
• Raising the position loop gain in systems with low mechanical rigidity or systems with low specific
• If the position loop gain is low, you can shorten the positioning time using feed forward. You can
• Position loop gain is generally expressed as follows.
When the position loop gain is manipulated, the response is as shown in the following diagram.
Note This parameter is enabled only if the gain adjustment rotary switch has been set to 0.
• Set the mechanical system inertia (load inertia for Servomotor shaft conversion) using the ratio (%)
• This parameter is the initial online autotuning value. After performing online autotuning, the correct
Servomotor speed
Pn102
Settings
Pn103
Settings
gain have a high response, and positioning is fast. To increase the position loop gain, you must
improve mechanical rigidity and increase the specific oscillation. This should be 50 to 70 (1/s) for
ordinary machine tools, 30 to 50 (1/s) for general-use and assembly machines, and 10 to 30 (1/s)
for production robots. The default position loop gain is 40 (1/s), so be sure to lower the setting for
machines with low rigidity.
oscillation may result in machine resonance, causing an overload alarm to occur.
also shorten the positioning time using the bias function.
of the Servomotor rotor inertia. If the inertia ratio is set incorrectly, Pn100 (speed loop gain) will also
be incorrect.
value will be written to Pn103 if the tuning results are saved. Refer to 4-5-1 Online Autotuning for
details.
Position loop gain (Kp) =
Position loop gain
1 to 2000
Inertia ratio
0 to 10000
Unit
Unit
Deviation counter residual pulses (pulses)
When position loop gain is low.
Command pulse frequency (pulses/s)
When position loop gain is high.
1/s
%
Default
Default
40
300
(1/s)
Restart?
Restart?
Time
Chapter 4
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4-19