— 8-10 —
8.3. Manual Tuning
Danger : Confirm that the work (or the Motor) does not hit any obstacle when the Motor
makes a full turn. Always stay in safe position.
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Manual tuning is needed when the automatic tuning did not work.
8.3.1. Precautions
1)
Initialize the servo parameters. Follow procedures in “8.2.2. Initialize Servo Parameters.”
2)
Execute the demonstration program referring to “8.2.4. Trial Running (Tuning Level 1).” It is not
abnormal, though the Motor operation is unstable at the beginning due to insufficient tuning.
3)
Input the command from the master controller when the control mode is the velocity control mode.
8.3.2. Adjustment of the Velocity Gain (VG)
1)
Start “VG” adjusting program.
[+],[-],[ENT]
444( 333)
STEP1
_VG1
G
/
V
J
ENT
A
(1)
(5)
(2)
(3)
(4)
The display shows the message as
shown on the left.
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Explanation of the messages
(1)
Key function
and
-
+
SHIFT
: Pressing key one time increases 1 resolution of “VG”.
-
+
: Pressing key one time decreases 1 resolution of “VG”
ENT
: Store “VG” value in the memory and completes the
adjustment.
(2)
Indicates present “VG” value.
(3)
Indicates “VG” value changed by pressing plus (+) or minus (-) key.
(4)
Response index number: The lower number denotes better response.
(5)
Positioning index number: The lower number denotes quicker positioning.
Caution : Changing “VG” step ( (2) ).
If you want to change the resolution of step, press space key or back space
key.
Space key
: Changes the step to 1/10 of present resolution.
(Pressing twice makes 1/100.)
Back space key : Changes the step to 10 times of present resolution.
(Pressing twice makes 100 times.)
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