7-17
7-4 Manual Tuning
Adjustment Functions
7
Servo Drive Manual Tuning Procedure
There are four basic adjustment parameters for the Servo Drive.
If the desired operating characteristics can be achieved by adjusting the following four parameters,
you do not need to adjust any other parameter.
About Parameter Adjustments
There are three Servo Drive control loops: the outermost Position Loop, the Speed Loop, and the
innermost Current Loop. The inner loop is affected by the outer loop and vice versa.
Set the initial values according to the configuration and rigidity of the machine, inertia ratio, and
other factors.
Referential parameter settings for different applications are provided below.
Parameter Settings for Different Applications
The Inertial Ratio (Pn020) is fixed at 300%.
Parameter No.
Parameter Name
Default Value
2nd Parameter No.
Pn010
Position Loop Gain
40.0[1/s]
Pn018
Pn011
Speed Loop Gain
50.0Hz
Pn019
Pn012
Speed Loop Integration Time
Constant
20.0ms
Pn01A
Pn014
Torque Command Filter Time
Constant
0.80ms
Pn01C
Application
Inertia
Rigidity
Position
Loop Gain
[1/s]
Speed Loop
Gain [Hz]
Speed Loop
Integration
Time Con-
stant
Torque Command
Filter Time Constant
[
×
0.01 ms]
Ball screw, horizontal
Large
Low
20
140
35
160
Ball screw, horizontal
Medium Medium
40
80
20
100
Ball screw, horizontal
Small
High
80
60
15
80
Ball screw, vertical
Large
Low
20
160
45
160
Ball screw, vertical
Medium Medium
40
80
30
120
Ball screw, vertical
Small
High
60
60
20
100
Ball screw, nut rotation, horizontal
Large
Low
20
140
40
160
Ball screw, nut rotation, horizontal Medium Medium
40
100
30
120
Ball screw, nut rotation, vertical
Large
Low
20
160
45
160
Ball screw, nut rotation, vertical
Medium Medium
40
120
25
120
Timing belt
Large
Low
20
160
60
160
Timing belt
Medium Medium
30
120
40
120
Rack & pinion
Large
Low
20
160
60
160
Rack & pinion
Large
Medium
30
120
40
120
Rack & pinion
Medium Medium
40
100
20
100
Index table
Large
Medium
40
120
25
120
Index table
Small
High
80
120
20
100
Robot arm, cylindrical
Large
Low
15
160
60
160
Robot arm, cylindrical
Medium Medium
25
120
40
120
General purpose
Medium Medium
30
100
30
150