— 8-8 —
8.2.5. Servo Gain Minor Adjustment (Tuning Level 2)
Danger : Confirm that the work (or Motor) does not hit any obstacle when the Motor
makes a full turn. Always stay in safe position.
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Perform minor adjustment of servo gain when the Automatic Tuning is not successful.
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Servo-gain can be adjusted by the parameter “SG.”
◊
Setting higher “SG” value improves response to the programmed motion profile. However,
if “SG” is too high, the Motor tends to vibrate.
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The same demonstration program in chapter 8.2.4 is used as the example for adjusting “SG” value.
(Follow the same procedures 1) ~ 7) in chapter 8.2.4 and keep operating the Motor.)
1)
Start “SG” adjusting program.
[+],[-],[ENT]
444( 333)
STEP1
_SG10
G
/
S
J
ENT
A
(1)
(5)
(2)
(3)
(4)
The message is displayed as shown below. Press plus (+) or minus (-) key to change “SG” value.
(The display shown above is an example. Those values shall be set to the conditions for actual use.)
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Explanation of the messages
(1)
Key function
and
-
+
SHIFT
: Pressing key one time increases 1 resolution of “SG.”
-
+
: Pressing key one time decreases 1 resolution of “SG.”
ENT
: Store “SG” value to the memory.
(2)
Indicates present “SG” value.
(3)
Indicates “SG” value changed by pressing plus (+) or minus (-) key.
(4)
Response index number: The lower numbers denotes better response.
(5)
Positioning index number: The lower number denotes quicker response.
Caution : Do not use space key or back space key. When it is used, the “SG” changing
resolution ( (2) ) may be altered.
2)
Observing the Motor operation, press the plus (+) key several times.
[+],[-],[ENT]
333( 222)
STEP1
_SG13
Pressing
,
SHIFT
-
+
-
+
• • •
As the responce index decreases, the movement of the Motor is getting crisply.
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