Kingservo KSDG Series, Manual

Page: 111 / 117

KingServo 111
6-3 Gain Adjustment
Adjustment of Position Mode
Sequence Parameter No. Function Default Concept of adjustment
1 Pr11
1
st
speed
loop gain
35
Rise in no abnormaly voice and range of vibration; decline while
abnormaly voice occurs.
2 Pr14
1
st
torque
filter time
constant
65
Try to change the value as vibration occurs in mofiatin of Pr11
Expect to reduce vibration as machine ceases, rise Pr14 and reduce
Pr11. As to intense vibration before cease, reduce Pr14.
3 Pr10
1
st
position
loop gain
63
Adjust this value and observe setting time. Too high value may
shorten setting time, but cause vibration.
4 Pr12
1
st
speed
loop integral
time constant
16
No problem in the operatio means the valus is proporiate. Low value
may shorten setting time, but too low value may cause vibration. If
setting is too high, deviation pulse can not properly converge and
have residuary.
5 Pr15
Positive
regeneration
speed
300
As vibration and voice can not go beyond the range of abnormality,
rise it grandually. Once positive regeneration is too lardge, except
Over Shoot, on-position signal will be vibrating and setting time can
not be shortened. As comamand pulse input can not be equal, to rise
Pr16(positve regeneration filter) can properly improve the
performance.
Adjustment of Speed Mode
Except positon loop gain and positive regeneration speed, adjustments of speed
control are similar with above adjustment of position mode.
Adjustment of Torque Mode
Pr56 (4
th
speed of speed setting)
or speed control loop of SPR speed limit input is
the base of torque control. The following explains the setting of speed limit value.
■ Setting of speed limit value
Use 4
th
speed of speed setting(Pr56)(torque command option(Pr5B) is 0) or speed
command input(SPR/TRQR)(torque command option(Pr5B) is 1) to set speed limit
value.
˙According to analog torque command, as motor speed reaches limit value, take speed
limit value decided by 4
th
speed of speed setting(Pr56), or analog speed command
input(SPR/TRQR) as command to shift from torque control to speed control.
For stable operation in speed control, set parameters according to adjustment of speed
mode.
˙
As speed limit value=4
th
speed of speed setting(Pr56) or analog speed command input
(SPR/TRQR) is too low or speed loop gain is too low or speed loop integral time
constant is 1000(invalid), the cause is that samll input of torque limit can not reach the
designated torque of analog torque command.