R88A-CNG02R Omron, R88A-CNG02R Datasheet - Page 433

• Manufacturer Part Number: R88A-CNG02R
• Description: Encoder Connector INC Motor
• Manufacturer: Omron

Specifications of R88A-CNG02R

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

Set each parameter to the values in Table 1 (Pn11, Pn12, and Pn14 only).
Speed responsiveness and other operational performance satisfactory?
Speed Control Mode Adjustment
Set the Inertia Ratio (Pn20) (value calculated at motor selection).
Does hunting (vibration) occur when the Servomotor is rotated?
but not so much that it causes hunting when the servo is locked.
but not so much that it causes hunting when the servo is locked.
Reduce the Speed Loop Integration Time Constant (Pn12),
Operate with a normal operating pattern and load.
Write the data to EEPROM in the parameter write mode.
Disable realtime autotuning (Pn21 = 0 or 7).
With the OMNUC G Series, adjustments for speed control are almost the same as adjustments for
the position control mode. Use the following procedure to adjust parameters except for setting the
Position Loop Gain and Speed Feed-forward.
Increase the Speed Loop Gain (Pn11),
Start of adjustment
End of adjustment
No
No
If vibration does not stop no matter how many times
you perform adjustments, or if positioning is slow:
Yes
Yes
Increase the Torque Command Filter Time
Reduce the Speed Loop Gain (Pn11).
End of adjustment
Increase the Speed Loop Integration
Constant (Pn14).
Never make extreme adjustment or
changes to settings. Doing so will result
in unstable operation and may lead to
injuries.
Adjust the gain in small increments while
checking Servomotor operation.
Time Constant (Pn12).
7-5 Manual Tuning
7-24
7