Instruction manual
7.4.5
When the same gain is used for
two
or more axes
(1)
Machine condition
To
perform interpolation operation with two
or
more axes
of
servo amphiiers, the position loop gains
of
the axes are set
to
the same value.
(2)
Adjustment procedure
1)
To
adjust the gains
of
each
axis,
adjust the gains
of
all
axes in the adjustment procedures in
Sections
7.4.1
to
7.4.4.
0000: Interpolation control.
-
.
The
following
parameter values change at the next
startfstop.
2)
Set 0000
or
0200
in
parameter
No.
2.
Parameter
No.
Position loop
gain
2
PG2
No.
35
Name
Symbol
No.
37
Speed loop
gain
2
VG2
No.
38
Speed
integral
compensation
VIC
0200:
Noautotuning............
Make auto tuning invahd and set each gain manually.
3)
Match position loop
gain
1
to
the minimum value
of
each
axis
to
make the gains
of
all
axes equal.
7.5
Slight Vibration Suppression Control
The slight vibration suppression control mode
is
used to reduce servo-speclfic
+1
pulse vibration at the
time
of
a stop.
‘lhs
mode produces an effect especially when the ratio
of
load inertia moment
to
servo
motor inertia moment is
small (2
to
5
times).
Note
that when vibration is attributable to looseness (such as
gear backlash)
or
machme resonance, use the machine resonance suppression
flter
in parameter
No.22.
The slight vibration suppression control mode should be used
after
real-time auto tuning
or
manual gain
adjustment.
pulses.
Set
0100
in parameter
No.
20 to enter the slight vibration suppression mode at the time
of
a stop
Parameter No. 20
I
Slight vibration suppression
control execution
7-
10