R88M-W75030T-S1 Omron, R88M-W75030T-S1 Datasheet - Page 307

• 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

Operation
Note When the speed feedback compensation function is used, the speed loop gain and position
4-7-6 Speed Feedback Filter (Position, Speed)
■
• This function sets the primary filter for the speed feedback gain.
• Use the filter function when you cannot raise the speed loop feedback due to mechanical system
■
Pn308
vibration, etc.
2.Gradually raise the speed loop gain (Pn100) with PI control, while lowering the speed loop inte-
3.Repeat step 2 and raise the gain while monitoring the settling time conditions with an analog mon-
4.Raise only the position loop gain little by little. When the gain has been raised to approximately
5.Further lower the speed feedback compensation gain from 90%, and repeat steps 2 to 4 to shorten
6.Seek the lowest settling time, in a range where torque command waveforms and position deviation
7.The Servo gain adjustment is complete at the point where the positioning time cannot be short-
Parameter
Functions
Parameters Requiring Settings
gration constant (Pn101). At this time, equalize the set values for the speed loop gain (Pn100) and
the position loop gain (Pn102). The relationship between the speed loop gain and the integral time
constant is shown in the equation below. Take the value derived from this equation as the criterion
for the integration constant (Pn101) set value.
Speed loop integration constant (Pn101) = 4000/2 π × Pn100 set value
Speed loop gain setting unit: [ × 0.1 Hz]
When setting the speed loop integration constant (Pn101), confirm the unit. The setting unit for
Pn101 is [ × 0.01ms]. This differs from the setting units for speed loop gain [ × 0.1 Hz] and position
loop gain [ × 0.1/s], but the numbers set are the same.
itor position deviation and the vibration conditions with a torque command. If oscillation can be
heard or if vibration increases too much, gradually increase the 1st step 1st torque command filter
time constant (Pn401).
the limit, go to the next step. Lower the speed feedback compensation gain (Pn111) from 100% to
90%. Then repeat steps 2 and 3 above.
the settling time. If the speed feedback compensation value is lowered too much, however, the re-
sponse waveform will oscillate.
monitored by the analog monitor do not become unstable through oscillation.
ened any further.
No.
loop gain can normally be raised. However, if the compensation value is greatly changed with
the speed loop gain and position loop gain raised, or if the speed feedback compensation func-
tion is disabled (i.e., Pn110.1 set to 1), the machinery may strongly vibrate and cause damage
to the machinery.
Speed feedback filter
time constant
Parameter name
Set the filter time constant for the speed feed-
back. (Setting range: 0 to 65535 ( × 0.01 ms).)
Explanation
4-3-3 Parameter
Details
Chapter 4
Reference
4-111