Instruction manual
7.
ADJUSTMENT
7.4.4 When shortening the settling time
(1)
Machine condition
The setthg time wdl be increased by the gains provided by auto tuning.
(2)
Adjustment procedure
1)
Choose the response setting of slow response.
Set
0101
in
parameter No.2.
2)Alternate a
start
and a stop several times, execute auto tuning, and check whether the machne
3)
Set the load inertia moment ratio (machme inertia moment ratio in parameter
No.
34).
does not vibrate.
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.
Parameter No.
Speed integral compensation
VIC
No.
38
Speed loop gain
2
VG2
No.
37
Speed loop gain
1
VG
1
No.
36
Position loop gain 2
PG2
No.
35
Position loop gain
1
PG1
No.
6
Name
Symbol
4)
Set 0200
in
parameter No.
2
to
make auto tuning invalid.
5)
Check the operatmg status and adjust the following parameter values:
Make the parameter No.
6,
35
to
38
settings manually adjustable.
Parameter No.
Description
Name
Symbol
No.
6
level but is liable
to
cause vibration.
Speed loop gain 2 VG2
No.
37
Higher setting improves the servo response
Speed loop gain
1
VG1
No.
36
is liable to cause overshooting.
Position loop gain
2
PG2
No.
35
Higher setting shortens the settling time but
Position loop gain
1
PG1
I
Lower setting keeps the speed constant
to
load disturbance and increases holding force
at a stop (servo rigxhty) but is liable
to
cause
No.
38
Speed integral compensation
VIC
Make adjustment by gradually increasing the parameter
No.
6,
35
to
37
settings at the same ratio and
reducing the speed integral compensation (parameter No.
38).
The optimum value is provided at the
point just before vibration increases. Use
of
the machme resonance suppression filter (parameter No.
22) may increase the bit point. However, note that the setting increased up to the limit point may
cause resonance due
to
the machme’s variations and changes with time.
7-
9