User manual OMRON ACCURAX G5 SERVO SYSTEM

[. . . ] I571-E2-01 Accurax G5 servo system with Analogue/Pulse control Model: R88D-KT_ Servo Drives R88M-K_ Servomotors USER'S MANUAL Introduction Introduction Thank you for purchasing the Accurax G5. This user's manual explains how to install and wire the Accurax G5, set parameters needed to operate the G5, and remedies to be taken and inspection methods to be used should problems occur. Intended Readers This manual is intended for the following individuals. Those having electrical knowledge (certified electricians or individuals having equivalent or more knowledge) and also being qualified for one of the following: Those in charge of introducing FA equipment Those designing FA systems Those managing FA sites Notes This manual contains the information you need to know to correctly use the Accurax G5 and peripheral equipment. Before using the Accurax G5, read through this manual and gain a full understanding of the information provided herein. [. . . ] FULL CLOSING CONTROL mode When servo is ON When there is no trouble with the motor's normal rotation Parameters Requiring Settings Parameter number Parameter name Hybrid Vibration Suppression Gain Explanation Set the hybrid vibration suppression gain. In general, set it to the same value as the position loop gain, and finely adjust it based on the situation. Set the hybrid vibration suppression filter. Reference 6 Pn634 P. 8-63 Applied Functions Pn635 Hybrid Vibration Suppression Filter P. 8-63 Operating Procedure 1. Set the Hybrid Vibration Suppression Gain (Pn634) to the same value as the position loop gain. Gradually increase the set value of the Hybrid Vibration Suppression Filter (Pn635) while driving with full closing control and check the changes in the response. If the response improves, find the combination of Pn634 and Pn635 that result in the optimal response by adjusting them. Precautions for Correct Use This function is effective when the amount of torsion between the motor shaft and the load is large. This may be less effective when the amount of torsion is small. 6-52 Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-16 Feed-forward Function 6-16 Feed-forward Function Outline of Operation The feed-forward function come in 2 types, speed feed forward and torque feed forward. The speed feed forward can minimize the position error and increase the responsiveness by calculating the speed control command that is required for the operation based on the internal positioning command during position or full closing control, and adding it to the speed command that is calculated based on the comparison with the position feedback. The torque feed forward can increase the responsiveness during speed control by calculating the torque command that is required for the operation based on the speed control command, and adding it to the torque command that is calculated based on the comparison with the speed feedback. Parameters Requiring Settings Parameter number Parameter name Explanation Use this parameter to add the speed control command calculated from the internal positioning command that is multiplied by this parameter's ratio to the speed command from the position control process. Set the time constant for the first-order lag filter that is applied to speed feed-forward inputs. Use this parameter to add the torque command calculated from the speed control command that is multiplied by this parameter's ratio to the torque command from the speed control process. Set the time constant for the first-order lag filter that is applied to torque feed-forward inputs. Set the input gain for analog torque feed forward. Set the bits related to inertia ratio switching. Reference 6 Applied Functions Pn110 Speed Feed-forward Amount P. 8-13 Pn111 Speed Feed-forward Command Filter Torque Feed-forward Amount Torque Feed-forward Command Filter Analog Torque Feedforward Gain Setting Enable of several function P. 8-13 Pn112 P. 8-13 Pn113 Pn600 Pn610 P. 8-13 P. 8-59 P. 8-59 Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-53 6-16 Feed-forward Function Operating Procedure Speed Feed-forward Operating Method 1. Set the Speed Feed-forward Command Filter (Pn111). Set it to 50 (0. 5 ms) or so. 2. Adjust the Speed Feed-forward Amount (Pn110). Gradually increase the value of Speed Feed-forward Amount (Pn110) and finely adjust it to avoid overshooting during acceleration/deceleration. If the speed feed-forward amount is set to 100%, the position error will be 0 during constant speed operation. However, a large overshooting will occur during acceleration/deceleration. The position error during an operation at a certain speed can be smaller based on the following formula according to the speed feed-forward gain value. Position error [command unit] = command speed [command unit/s] / position loop gain [1/s] × (100 - speed feed-forward amount [%]) / 100 Position error 6 Applied Functions Speed FF gain Motor speed Command speed 0 [%] 50 [%] 80 [%] Time The position error in the range of constant speed becomes smaller as the speed feed-forward gain increases. Precautions for Correct Use The operating noise may increase when the speed feed forward is enabled if the update cycle of the position command input is longer than the amplifier control cycle, or if the pulse frequency is not uniform. In such cases, apply the position command filter (first-order lag or FIR smoothing) or raise the speed feed-forward filter setting. 6-54 Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-16 Feed-forward Function Torque Feed-forward Operating Method 1. [. . . ] 8-12 Stop Selection for Alarm Generation (Pn510). 8-50 Stop Selection for Drive Prohibition Input (Pn505) 8-47 Stop Selection with Main Power Supply OFF (Pn507) . 8-49 Stop Selection with Servo OFF (Pn506) . 5-22 SWITCHING mode in Position Control (Pn115) . [. . . ]