Omron OMNUC U Series Guía de inicio rápido

TECHNICALGUIDE

ServoSystem

Startup

Cat. No. I801-E1-1

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About thisManual:

Thisguide describesthe installation and startup proceduresof the ServoSystemsothatitcan

be efficientlyputin actualoperation in a short time.

Thisguide providesdetailed descriptionsofkeypointsforefficiently starting up the ServoSys-

temasfollows:

·Check the wiring byefficientlyusing the monitorfunction.

·Perform gain adjustmentsproperly.

·Find the causesofalarmsquicklyand takethe appropriatecountermeasures.

·Take appropriatecountermeasuresforposition deviation thatmightbe caused by

noise.

Thisguide appliestothe following OMRONproducts:

·OMNUC U Series

·OMNUC H Series

·OMNUC MSeries

·OMNUC R Series

It isrecommended that the following manualsbe referred towhen actuallyperforming the work.

ItemCatalog No.Model

OMNUC U SeriesI501 R88D-UA Analog InputwithPowerSupply

I502 R88D-UP Pulse-trainInputwithPowerSupply

OMNUC H SeriesI508 R88D-HT/HS

OMNUC MSeriesI511 R88D-MT

OMNUC R SeriesI503 R88D-RA Analog InputwithPowerSupply

I505 R88D-RP Pulse-trainInputwithPowerSupply

I504 R88D-RB Analog InputwithoutPowerSupply

I506 R88D-RR Pulse-trainInputwithoutPowerSupply

Finally,pleaseread thisguide carefullyand be sureyou understand the information provided

before attempting toinstall and startup the ServoSystem.The guide includesthe sectionsde-

scribed below.

Chapter1providesasummaryof the ServoSystemand all gainsused forthe ServoSystem

loops.

Chapter2describeswiring checks,possiblesystemstartup errors,and countermeasures

againstposition deviation when constructing the ServoSystem.

Chapter3describesthe probablecausesofServoDriveralarmsthatmayoccurand the counter-

measuresrequired to deal withthem.

Chapter4describesthe typesand generation ofnoise and provides countermeasuresagainst

noise.

The Appendixprovidesan example of the configuration of the ServoDriver’smaincircuitry.

WARNINGFailuretoread and understand the information provided inthismanualmay

resultin personal injuryordeath,damage tothe product, orproduct failure.

Pleaseread eachsection initsentiretyand be sureyou understand the

information provided inthe section and related sectionsbefore attempting anyof

the proceduresoroperationsgiven.

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All rightsreserved.No partofthispublication may bereproduced,storedinaretrievalsystem,ortransmitted,

inany form,orby any means,mechanical,electronic,photocopying,recording,orotherwise,without theprior

written permission ofOMRON.

No patent liabilityisassumedwithrespect totheuseoftheinformation contained herein.Moreover,because

OMRON isconstantlystriving toimproveitshigh-quality products,theinformation containedinthismanual

is subject tochangewithoutnotice.Every precaution hasbeentakeninthepreparation ofthismanual.Never-

theless,OMRON assumesno responsibilityforerrorsoromissions.Neitherisany liabilityassumedfordam-

agesresulting fromtheuseoftheinformation containedinthispublication.

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TECHNICALGUIDE

ServoSystem

Startup

Cat. No. I801-E1-1

AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : [email protected]

TableofContents

Chapter 1.GainAdjustment1-1.................................

1-1Typesand MeaningsofGain 1-2...................................................

1-1-1Summary ofServo System1-2..............................................

1-1-2Gain 1-3................................................................

1-1-3TypesofGains1-4.......................................................

1-2GainAdjustment1-5............................................................

1-2-1GainAdjustmentProcedure1-5.............................................

1-2-2Relationship betweenGainAdjustmentand Response1-5........................

1-3SpecialAdjustmentParameters1-10.................................................

Chapter 2.ConnectiontoPositionControlUnit2-1.................

2-1Wiring Check 2-2...............................................................

2-1-1Wiring CheckwithI/OMonitor2-2..........................................

2-1-2Wiring CheckwithoutI/OMonitor2-3.......................................

2-2SystemStartup Errors2-4........................................................

2-3CountermeasuresAgainstPosition Deviation 2-9......................................

Chapter 3.Servo Driver Errors3-1...............................

3-1Alarmsand Countermeasures3-2..................................................

Chapter 4.CountermeasuresAgainstNoise4-1.....................

4-1Generation and TypesofNoise4-2.................................................

4-1-1Noise4-2...............................................................

4-1-2TypesofNoise4-2.......................................................

4-1-3NoiseTransmission Paths4-3...............................................

4-2NoiseSuppression 4-6...........................................................

4-2-1Countermeasures4-6......................................................

4-2-2PracticalNoiseSuppression 4-6.............................................

4-2-3OtherCountermeasures4-8.................................................

4-2-4NoiseSuppression Example4-10.............................................

Chapter 5.Appendix 5-1........................................

5-1Configuration ofMainCircuitry 5-2................................................

RevisionHistoryR-1.................................

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Chapter 1

GainAdjustment

1-1Typesand MeaningsofGain

1-2GainAdjustment

1-3SpecialAdjustmentParameters

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1-2

1-1Types and MeaningsofGain

The word“gain”appearsfrequentlyinthistechnicalguide.The gainisone of the indis-

pensable parametersof the ServoSystem. If the gain adjustmentof the ServoSystemis

insufficient, the operation of the ServoSystemwill be unsatisfactory,inwhichcasethe

ServoSystemwill causemachinery vibration and an alarm will result. Asummaryof the

ServoSystemand all gainsused forthe ServoSystemloopsare described below.

1-1-1SummaryofServoSystem

The ServoSystemusesfeedback loops. In a feedback loop, the responsevalue isfed back afterthe

command sothat the difference between the response and command valueswill be as close aspos-

sibletozero.The ServoSystemconsistsof three feedback loops(i.e., position loop,speed loop,and

currentloop).Refertothe following block diagram.

Position Loop

·The position loop isused tolet the rotation angle of the motor reachthe desired position (i.e., the de-

sired rotation angle)thatwasexternallydesignated.

·The speed command isoutput fromthe position loop tothe speed loop.

·The position loop feedsback the position data(i.e., the information on rotation angle)of the encoderor

resolver.

Speed Loop

·The speed loop isused tolet the motor rotate at the speed designated bythe externalanalog speed

command orthe speed command thatisoutput fromthe position loop.

·The currentcommand isoutput fromthe speed loop tothe currentloop.

·The speed loop feedsback the speed data of the encoderor resolver.

CurrentLoop

·The currentloop providesthe motorwiththe currentdesignated bythe currentcommand thatisoutput

fromthe speed loop.

·The currentloop feedsback the motorcurrentvalue.

The gainisa parameterto adjust the responsespeed ofafeedback loop.

GainAdjustmentChapter1

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1-3

Configuration ExampleofServoSystem

Command pulses

(Position command)Deviation counter

Position gainSpeed gainCurrentgain

Motor

Current feedback

Speed feedback

Speed detection

Feedback pulse(position feedback)

Encoder

or resolver

Position ControlUnitwith analog output

Position ControlUnitwith

pulse-train output

ServoDriverwith analog input

ServoDriverwith pulse-traininput

Servomotor

1-1-2Gain

The gainisanotherwordfor magnification.

The difference between the command and responsevaluesin a feedback loop ismultiplied bythe gain

and the resultisoutput fromthe feedback loop.The difference between the targetposition and present

position inthe position loop, forexample,isobtained asa position deviation ordeviation countervalue.

The value multiplied bythe position loop proportionalgainisoutputasaspeed command.

Inthe actualServoSystem, the targetposition isexpressed by command pulsesand the presentposi-

tion isexpressed byfeedback pulses,bothfromwhichthe position deviation pertime unitis calculated.

The deviation countertotalsall the per-time-unitposition deviationsto obtainthe position deviation of

the ServoSystem.

Target

position

(Position

command)

Position deviation

xPosition loop proportionalgain

(Position gain:Kp)

Presentposition

Speed

command

tospeed

loop

The higherthe gain ofanyfeedback loop is, the higherthe outputof the feedback loop is. In otherwords,

if the gainincreases, the outputpowertofixthe deviation will increase.The ServoSystemwith high

gainsisidealbecausethe gainsensure a high responsespeed and reduce errors. If the gainsaretoo

high,however, the ServoSystemwill causemachine vibration according tothe size and rigidityof the

machine system.The ServoSystem, therefore,requiresgain adjustmentaccording tothe machine sys-

tem.

NoteRigidityindicatesthe engagementstrength of the machine system.The backlash orspring por-

tion ofamachine system reducesthe rigidityof the machine system.

GainAdjustmentChapter1

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1-4

1-1-3Types ofGains

The following table describesgainsand adjustmentparametersthatwill improvethe responsecharac-

teristics of the ServoSystem.

Gainand adjustment

parameterFunction Parameternameforeachseries

Currentloop command

filterThe current(torque) responsespeed

will change byadjusting thisgain.

Adjust thisgainif the ServoSystem

doesnotstop causing machine

vibration afterothergainsare adjusted.

Thereisno need to adjust thisgainin

normaloperation.

U:Torque command filtertimeconstant

H:---

M:Currentcommand filtertime

constant

R:High-range filterfrequency selection

(Onlyformodelswithindependent

powersupplies)

Speed loop proportional

gainThe responsecharacteristics of the

ServoSystemin accelerating or

decelerating operation will change by

adjusting thisgain.

Adjust thisgaintosuppress the

overshooting orundershooting of the

ServoSystemand improvethe

responsecharacteristics of the Servo

System.

U:Speed loop gain

H:Speed loop proportionalgain

M: Inertiaratio

R:ACgain(See note 1)

Speed loop integralgainThe responsecharacteristics of the

ServoSysteminslowoperation will

change byadjusting thisgain.

Usethisgainto adjust the servo-lock

strength of the ServoSystem.

U:Speed loop integraltimeconstant

(See note 2)

H:Speed loop integralgain

M:Speed gain

R:ACgain

Position loop

proportionalgainThe positioning time of the Servo

Systemwill change byadjusting this

gain.

Adjust thisgaintosuppress the

overshooting orundershooting of the

ServoSystemand minimizethe

positioning time.

U:Position loop gain

H:Position loop proportionalgain

M:Position gain

R:Loop gain

(Onlyformodelswith pulse-traininput)

Note 1.The ACgain of the RSeries variesthe speed loop proportionalgain and speed loop integral

gainsimultaneously.Fordetails,referto1-3SpecialAdjustmentParameters.

Note 2.The integralgain of the speed loop of the USeriesisadjusted withthe speed loop integraltime

constant. (Speed loop integralgainµ1/Speed loop integraltimeconstant)

GainAdjustmentChapter1

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