R88M-WP10030S-BWS1 Omron, R88M-WP10030S-BWS1 Datasheet - Page 344

• 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 Speed Control)
• Use the following procedure to perform operation with speed control (speed command voltage input).
4-106
If using speed operation:
Set Pn300 (speed command scale) to match rotation speed.
Set Pn103 (inertia ratio). Calculated during Servomotor selection.
If using positioning:
Increase Pn300 (speed control scale) or position loop
gain on the controller until there is no overshooting.
Increase Pn100 (speed loop gain) until there is no
hunting with Servolock ON.
Reduce Pn101 (speed loop integration constant
until there is no hunting with Servolock ON.
Increase rigidity setting (Fn001) until there is no hunting.
Any hunting (vibration) when the Servomotor rotates?
Is Servomotor hunting (and groaning) with servo locked?
Run under normal operating pattern and load
Set rigidity (Fn001) for online auto-tuning.
Rotate Servomotor and monitor operation.
Turn ON the power (to enable Pn110.0 setting).
Positioning time, etc., satisfactory?
Turn OFF online auto-tuning (Pn110.0 = 2).
Reduce rigidity setting (Fn001) by 1.
End adjustment
Start
(See note.)
Note Set the online auto-tuning to be always OFF (Pn110.0 = 2).
Pn101 setting target
Pn101 = (2.3 to 4) x
Note
Increase Pn401 (torque command filter time constant)
Increase Pn101 (speed loop integration constant)
Reduce rigidity setting (Fn001) until there is no hunting.
Note
If vibration does not cease no matter how many times you per-
form 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
End adjustment
(s)
Chapter 4