R88A-CNG01R Omron, R88A-CNG01R Datasheet - Page 343

• Manufacturer Part Number: R88A-CNG01R
• Description: Encoder Connector ABS Motor
• Manufacturer: Omron

Specifications of R88A-CNG01R

• Lead Free Status / Rohs Status: Lead free / RoHS Compliant

Setting range
Setting range
Gain Parameters (Pn10 to Pn3D)
Pn0F
Pn10
• If the speed loop gain and position loop gain are optimally set, the Servomotor operation for the
command will be delayed 2/Kp at acceleration and delayed 3/Kp at deceleration.
• Use this parameter to adjust the position loop response to suit the mechanical rigidity.
• The responsiveness of the servo system is determined by the position loop gain. Servo systems
• Increasing the position loop gain in systems with low mechanical rigidity or systems with low
• If the position loop gain is low, you can shorten the positioning time using feed forward.
• This parameter is automatically changed by executing realtime autotuning. To set it manually,
Reserved
Position Loop Gain
Servomotor
speed
with a high loop gain have a high responsiveness and fast positioning. To increase the position
loop gain, you must improve mechanical rigidity and increase the specific oscillation frequency.
This should be 50 to 70 (1/s) for ordinary machine tools, 30 to 50 (1/s) for general-use and
assembly machines, and 10 to 30 (1/s) for industrial robots. The default position loop gain is 40
(1/s), so be sure to lower the setting for machines with low rigidity.
specific oscillation frequencies may cause machine resonance, resulting in an overload alarm.
set the Realtime Autotuning Mode Selection (Pn21) to 0.
Position loop gain is generally expressed as follows:
When the position loop gain is changed, the response is as shown in the following diagram.
Position loop gain (Kp) =
Servomotor
speed
0 to 3000
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Position
command
Servomotor operation
Kp
2
Unit
Unit
When speed loop gain is low.
Deviation counter accumulated pulses (pulses)
Command pulse frequency (pulses/s)
When position loop gain is high.
1/s
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Default setting
Default setting
Kp
3
Time
5-16 User Parameters
---
40
Power OFF→ON
Power OFF→ON
(1/s)
Time
Position
5-58
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5