Fuji Electric ALPHA7, User Manual

Page: 337 / 662

CHAPTER 5 SERVO ADJUSTMENT
5-20
Manual Tuning
5
5.6.5 Individual Adjustment
The adjustment method for the individual case is described (for position control).
The method varies according to the configuration of the mechanical system and other particulars.
Use the procedure as a basic adjustment procedure.
Before making adjustment, use historical trace of the PC Loader to measure the action time and output
timing of in-position signal.
 Adjustment for faster response (reduced settling time)
In case of shortage in travel
(1) Decrease PA1_51 (moving average S-curve time).
(2) Decrease PA1_54
(position command response time constant).
(3) Increase PA1_58 (feed forward gain 1).
(4) Decrease PA1_14 (load inertia ratio).
(Each change should be within ±10 [%].)
In case of overshoot
(1) Increase PA1_51 (moving average S-curve time).
(2) Increase PA1_54
(position command response time constant).
(3) Decrease PA1_58 (feed forward gain 1).
(4) Increase PA1_14 (load inertia ratio).
(Each change should be within ±10 [%].)

Adjustment checking method
The overshoot unit amount and settling time can be monitored with PC Loader during adjustment to
reduce the settling time.
The motion waveform can be monitored, as well.
For details, refer to "CHAPTER 14 PC LOADER."
Command
Motor
movement
Speed
Time
Command
Motor
movement
Speed
Time