Instruction manual
7.
ADJUSTMENT
7.4.3
Load inertia moment
is
20
or more times
(1)
Machine
condition
The machme inertia moment
is
20 times
or
more and the servo motor oscdates at low frequency
(5Hz
or
more). At
this
time, servo motor shaft vibration can be confirmed visually.
Ths
adjustment method is valid
for
the following machnes:
(a) Machme in whch a timing belt
is
dnven without reduction gear
Servo
motor
(b)
Machine
in
whch a &sc
is
rotated without reduction gear
77
Disc
Servo
motor
-
(c)
Machine
of
which ballscrew lead is long
Servo
motor
Ballscrew
(2)
Adjustment procedure
1)
Choose the response setting of slow response.
2)
Set the load inertia moment ratio (machme inertia moment ratio in parameter No.34).
If
an exact machme inertia moment ratio is unknown, enter
an
approximate value.
When the value is set in this parameter, the following parameters are set automatically. When
there is no machme resonance, the value of each parameter is set to the ideal
gain
for the
parameter No.34 value.
Set 0101
in
parameter
No.
2.
Parameter
No.
Speed integral compensation
-
VIC
KO.
38
Speed loop
gain
2
VG2
No.
37
Speed loop
gain
1
VG
1
KO.
36
Position loop
gain
2
PG2
No.
35
Position loop
gain
1
PG
1
No.
6
Name
Symbol
3) Set parameter
No.
2
to
02170 (auto tuning not executed).
4)Alternate a start and
a
stop several times and check whether the machme does not vibrate.
5)
If
vibration
still
persists, repeat steps
1)
to
4).
6)
If
vibration
std
persists, make (a) adjustment
1
and
(b)
adjustment 2 in paragraph (2)
of
Section
7)
If
you want
to
further increase the response, set parameter
No.
2 to "auto tuning executed" (thd
digit) with operation
at
a
stop, and increase the response setting (first
hgit).
After that, set the
parameter to "auto tuning not executed" (thrd
hgt).
For
example, after setting parameter
No.
2
to
"0102", set it
to
"0202".
7.4.2.
8)
Reducing the speed loop's integral time constant (parameter No.
38)
may improve the perform-
ance. However, mahng it too small may generate vibration.
7-
8