LS Mecapion L7 A001, User Manual

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9. Appendix
9-7
10-1

How to Set Control Parameters [Gain Tuning]
1) Auto gain tuning
→ Perform automatic gain tuning by pressing [SET] in [Cn-05].
→ If the load condition of the equipment is not directly related to motor shaft, it is hard to
perform accurate gain tuning because of characteristics of automatic gain tuning. Therefore,
manual gain tuning is recommended.
2) Manual gain tuning
→ Set inertia ratio [P1-00], speed proportional gain [P1-06], and speed integral time constant
[P1-08] as the standard gain.
→ Increase inertia ratio [P1-00] gradually until the motor starts vibrating.
→ For more stable control, increase speed proportional gain [P1-06] a little at a time until the
motor vibrates slightly. If you increase speed integral time constant [P1-08], the motor stops
vibrating.
→ Increase speed integral time constant [P1-08] in the last stage and the motor will stop
vibrating. However, it takes as much time to reach normal state as the time constant set in
responsiveness. If you set speed proportional gain [P1-06] too big in an effort to attain satisfying
responsiveness, overshoot might occur. The allowed range of overshoot is generally 10 percent
or below.
11-1

How to Set Electric Gear Ratio [P4-01]~[P4-05]
→ Electric gear ratio = transmission per input pulse X number of pulses per motor rotation /
transmission per motor rotation