Instruction manual
7.
ADJUSTMENT
7.2 Gain Adjustment
7.2.1 Parameters required for gain adjustment
7.2.2 Block diagram
The block hagram
of
the Servo Amphfier servo control section
is
shown above. (The current loop
is
omitted.)
(1
)
Actual loop section
A control loop designed to control the actual motor and acts
to
control the servo system stably
in
response to the load torque
of
the machme.
(2) Model section
Acts
to
provide the ideal operation values
to
the current loop in response to the command.
(3)
Auto tuning section
Judges the load inertia moment
of
the mache fitted with the actual motor from the operation error
of
the motor to change each control gain
in
real time.
The gains changed by auto tuning are PGl, VG1, PG2, VG2 and
VIC.
7-
3