3-5 Manual gain adjustment method
3-15
4
3
3
1
9
8
7
6
9
8
Star
tup
Actuator
3-5
Manual gain adjustment method
If sufficient adjustment could not be achieved by auto-tuning, manual adjustment can be performed
using various parameters.
When manually adjusting the servo gain, adjust the gains of individual servos one by one. Check the
response characteristics using the HA-800 driver monitor software PSF-800 waveform monitoring.
Prepare a measuring instrument to observe monitored output waveforms to CN9.
Position control
A block diagram of position control is shown below.
Parameters
The following parameters are used to adjust the position control gain.
Parameter No.
Description
Default
AJ00
Position loop gain
*1
AJ01
Speed loop gain
*1
AJ02
Speed loop integral
compensation
*1
*1: The default varies depending on the applicable actuator. Refer to the values of applicable actuator that are
the targets of [Appendix: Default setting] (A-1).
Adjustment procedure
1
Perform rough adjustment via auto-tuning. Refer to [T09: Auto-tuning] (P9-11).
2
Set a smaller position loop gain (AJ00) and larger speed loop integral compensation
(AJ02).
3
Gradually increase the speed loop gain (AJ01) to the extent that the machine does not
vibrate or produce abnormal sound, and once vibration or abnormal sound is detected
decrease the gain slightly.
4
Gradually decrease the speed loop integral compensation (AJ02) to the extent that the
machine does not vibrate or produce abnormal sound, and once vibration or abnormal
sound is detected increase the compensation slightly.
5
Gradually increase the position loop gain (AJ00), and once vibration is detected decrease
the gain slightly.
6
Fine-tune the above gains by observing the settling after positioning and condition of
machine operation.
HA-800A driver
Speed feedback
Position feedback
Position
loop
Position
command
Position
control part
Speed control
part
Power
amplifier
Mechanical load
system
Encoder
Summary of Contents for H A - 800A
Page 60: ...2 6 Wiring the host device 2 21 4 2 2 1 9 8 7 6 9 8 Installation wiring...
Page 86: ...3 6 Normal operation 3 25 4 3 3 1 9 8 7 6 9 8 Startup...
Page 152: ...5 8 Connection example in control mode 5 35 1 2 3 4 5 6 7 8 9 10 11 Appe I O signals...
Page 166: ...6 1 Operating display panel 6 13 11 10 9 4 7 6 5 4 3 2 1 Panel display and operation...
Page 206: ...8 2 Function extension parameter 8 17 1 2 3 4 5 6 7 8 9 10 11 Appe System parameter mode...
Page 222: ...9 2 Details of test mode 9 15 1 2 3 4 5 6 7 8 9 Test mode...
Page 270: ...11 2 Warnings and remedial actions 11 17 1 2 3 4 5 6 7 8 9 10 11 Appe Troubleshooting...
Page 271: ...1 16 Chapter 12 Option Options you can purchase as necessary are explained 12 1 Option 12 1...
Page 276: ...12 1 Option 12 5 1 2 3 4 5 6 7 8 12 Option...