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US 2017/0176971 A1Published application
Adjustment apparatus, control parameter adjustment method, information processing program, and storage medium
AssigneeOMRON Corporation
InventorsYasumoto MORI, Mamoru EGI, Yasutomo KAWANISHI, Yasushi ONO, Shota MIYAGUCHI
Life of this patent
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Abstract
Control that is less likely to cause an overshoot is performed when an actual inertia value is yet to be determined. A development support apparatus sets a ratio of a position proportional gain to a velocity proportional gain to a value smaller than a ratio set when a servo driver has determined an actual inertia value of a load machine.
Claims9
An adjustment apparatus for adjusting a control parameter for a servomotor, the apparatus comprising:
- a gain adjustment unit configured to adjust a position proportional gain and a velocity proportional gain in parallel, the position proportional gain being used in position control performed in a servo driver for controlling the servomotor, the velocity proportional gain being used in velocity control performed in the servo driver,
- wherein when the servo driver is yet to determine an actual inertia value of a load machine, the gain adjustment unit sets a ratio of the position proportional gain to the velocity proportional gain to a value smaller than a ratio set when the servo driver has determined the actual inertia value of the load machine.
A method for adjusting a control parameter for a servomotor, the method comprising:
- adjusting a position proportional gain and a velocity proportional gain in parallel, the position proportional gain being used in position control performed in a servo driver for controlling the servomotor, the velocity proportional gain being used in velocity control performed in the servo driver,
- wherein in the step of adjusting the gains, when the servo driver is yet to determine an actual inertia value of a load machine, a ratio of the position proportional gain to the velocity proportional gain is set to a value smaller than a ratio set when the servo driver has determined the actual inertia value of the load machine.
Dependencies are inferred from the claim text.