R88M-W75030T-S1 Omron, R88M-W75030T-S1 Datasheet - Page 296

• Manufacturer Part Number: R88M-W75030T-S1
• Description: SERVO MOTOR 750W 200V
• Manufacturer: Omron

Specifications of R88M-W75030T-S1

• Lead Free Status / Rohs Status: Lead free / RoHS Compliant
• Other names: R88MW75030TS1

4-6-4 Manual Tuning
■
• If the gain is adjusted as an initial setting using manual tuning, tuning can be performed compara-
• Select the rigidity setting to suit the mechanical system from the following 10 levels.
• The speed loop handles both PI and I-P control.
Note Make sure that the location of the decimal point is correct when setting the parameters.
4-100
Operation
Low
Medium
High
Response
Low
Medium
Response
tively quickly. Therefore it is recommended that the rigidity be set first.
Switching between PI and I-P control is performed by means of the Pn10B.1 setting. Setting
Pn10B.1 to 0 switches to PI control, and setting it to 1 switches to I-P control. The new setting is
enabled by turning the power OFF and back ON after the setting has been made.
1.Speed Loop PI Control
2.Speed Loop I-P Control
Rigidity Settings During Tuning
01
02
03
04
05
06
07
08
09
10
01
02
03
04
Rigidity
Rigidity
setting
setting
15.0
20.0
30.0
40.0
60.0
80.0
100.0
120.0
140.0
160.0
15.0
20.0
30.0
40.0
loop gain
loop gain
Position
Position
Pn102
Pn102
(s
(s
− 1
− 1
)
)
15.0
20.0
30.0
40.0
60.0
80.0
100.0
120.0
140.0
160.0
15.0
20.0
30.0
40.0
Speed loop
Speed loop
Pn100
Pn100
gain
gain
(Hz)
(Hz)
60.00
45.00
30.00
20.00
15.00
10.00
8.00
7.00
6.00
5.00
18.00
14.00
9.00
7.00
Speed loop
Speed loop
integration
integration
constant
constant
Pn101
Pn101
(ms)
(ms)
1st step 1st
2.50
2.00
1.30
1.00
0.70
0.50
0.40
0.35
0.30
0.25
1st step 1st
2.50
2.00
1.30
1.00
command
command
filter time
filter time
constant
constant
torque
torque
Pn401
Pn401
(ms)
(ms)
Articulated robots, har-
monic drives, chain drives,
belt drives, rack and pinion
drives, etc.
XY tables, Cartesian-coor-
dinate robots, general-pur-
pose machinery, etc.
Ball screws (direct cou-
pling), feeders, etc.
Articulated robots, har-
monic drives, chain drives,
belt drives, rack and pinion
drives, etc.
XY tables, Cartesian-coor-
dinate robots, general-pur-
pose machinery, etc.
applications (mechanical
applications (mechanical
Representative
Representative
system)
system)
Chapter 4