R88M-WP10030S-BWS1 Omron, R88M-WP10030S-BWS1 Datasheet - Page 343

• Manufacturer Part Number: R88M-WP10030S-BWS1
• Description: SERVO MOTOR 100W 100V W/BRAKE
• Manufacturer: Omron

Specifications of R88M-WP10030S-BWS1

• Lead Free Status / Rohs Status: Lead free / RoHS Compliant
• Other names: R88MWP10030SBWS1

Operation
H Manual Tuning Procedure (During Position Control)
• Use the following procedure to perform operation with position control (pulse train input).
Note Turn OFF online auto-tuning (Pn110.0 = 2).
Increase Pn102 (position loop gain) until there is no overshooting.
Set Pn103 (inertia ratio) Calculated during Servomotor selection.
Reduce Pn101 (speed loop integration constant until
there is no hunting with Servolock ON.
Increase Pn100 (speed loop gain) until there is no
hunting with Servolock ON.
Increase rigidity setting (Fn001) until there is no hunting.
Is Servomotor hunting (and growling) with servo locked?
Any hunting (vibration) when the Servomotor rotates?
Run under normal operating pattern and load.
Set rigidity (Fn001) for online auto-tuning.
Turn ON the power (to enable Pn110.0 setting).
Turn OFF online auto-tuning (Pn110.0 = 2)
Positioning time, etc., satisfactory?
Reduce rigidity setting (Fn001) by 1.
Rotate Servomotor and monitor operation.
Adjustment complete
Start
(See note.)
Pn101 setting target
Pn101 = (2.3 to 4) x
Note
Increase Pn401 (torque command filter time constant)
Reduce rigidity setting (Fn001) until there is no hunting.
Increase Pn101 (speed loop integration constant).
Note
If vibration does not cease no matter how many times you
perform adjustments, or if positioning is slow:
Reduce Pn100 (speed loop gain).
Do not perform extreme adjustment and setting changes
as they may destabilize the operation. Adjust the gain a
little at a time while checking the Servomotor operation.
2π x Pn100
1
Adjustment complete
(s)
Chapter 4
4-105