6.Adjustments
Manual tuning
6-15
2) Basic manual tuning method for velocity control
■
Set value of Velocity Loop Proportional Gain (KVP1) as high as possible within the range that
mechanical system can stably work without any vibration or oscillation. If vibration increases,
lower the value.
■
Set value of Velocity Loop Integral Time Constant (TV1) by referring to
“
TVI
[ms]
=1000/ (KVP
[Hz]
)
”
as a guide.
✔
When you cannot increase the gain because of mechanical resonance, etc., and the response is insufficient
(after using the Torque notch filter and/or FF vibration suppression frequency to suppress resonance) try the
procedure again.
3) Basic manual tuning method for position control
■
Set value of Velocity Loop Proportional Gain (KVP1) as high as possible within the range that
mechanical system can stably work without any vibration or oscillation. If vibration increases,
lower the value.
■
Set value of Velocity Loop Integral Time Constant (TVI1) by referring to
”
TVI
[ms]
=1000/ (KVP
[Hz]
)
”
as a guide.
■
Set value of Position Loop Proportional Gain (KP1) by referring to
“
KP
[1/S]
= KVP
[HZ]
/4
・
2
π”
as a
guide. When vibration occurs, lower the value.
✔
When you cannot increase the gain because of mechanical resonance, etc., and the response is insufficient
(after using the Torque notch filter and/or FF vibration suppression frequency to suppress resonance) try the
procedure again.
Summary of Contents for M-EGA-15A2301
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