R88M-WP10030S-BWS1 Omron, R88M-WP10030S-BWS1 Datasheet - Page 354

• 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 Setting Procedure
• Measure the torque vibration frequency by increasing the Pn100 (speed loop gain) with the machinery
• Set the measured frequency using Pn409 (or Pn40b) (notch filter 1/2 frequency).
• Adjust the value of Pn409 (or Pn40b) slightly to minimize output torque vibration.
• Gradually raise the Q value (Pn40A or Pn40C) within the range in which the vibration will not increase.
• Once again, adjust Pn100 (speed loop gain), Pn101 (speed loop integration constant), Pn102 (posi-
4-8-8
H Functions
• This function shortens positioning time.
• This function works to lower the speed loop feedback gain, and raise the speed loop gain and position
Note If you use the speed feedback compensation function, online auto-tuning will not operate normal-
H Parameters Requiring Settings
• Reduce the setting value for Pn111 (speed feedback compensating gain) to increase the speed loop
H Setting Procedure
• To perform adjustment, measure the position error and torque command. Refer to the OMNUC W-se-
• Follow 4-7-2 Manual Tuning to adjust Pn100 (speed loop gain), Pn101 (speed loop integration time
4-116
Pn110.1
Pn111
Parameter No.
vibrating slightly. Use the OMNUC W-series Servo Driver Computer Monitoring Software to measure
the analog monitor (torque command monitor) output.
tion loop gain), and Pn401 (torque command filter time constant) according to 4-7-2 Manual Tuning .
loop gain. Consequently, responsiveness to commands is improved, and positioning time can be
shortened. Noise sensitivity is lowered, however, so positioning time cannot be shortened where there
is external force applied, such as with the vertical axis.
gain and position loop gain. If the value is too small, the response may vibrate.
ries Servo Driver personal computer monitoring software to measure the analog monitor output.
constant), Pn102 (position loop gain), and Pn401 (torque command filter time constant) to quickly set
the position error to zero without the torque command vibrating.
ly. To use the speed feedback compensation function, turn OFF the online auto-tuning (Pn110.0 =
2).
Speed Feedback Compensation (Position, Speed,
Internally-set Time Control)
Selects speed
feedback
compensation
function
Speed feedback
compensating gain
Parameter name
To use the speed feedback compensation function,
set Pn110.1 to 1 (speed feedback compensation
function ON).
Adjusts the speed loop feedback gain.
Explanation
Chapter 4
4-4-4
Parameter
Details
Reference