1-6
1-6
D
Speed Loop Proportional Gain
·
The response characteristics of the Servo System in all frequency bands change by adjusting this
gain.
·
The compensating force and response characteristics rise if the gain increases.
·
Increase the gain as much as possible provided that the adjusted gain does not cause machinery
vibration.
D
Speed Loop Integral Gain
·
The response characteristics of the Servo System in low frequencies change by adjusting this gain.
·
The servo-lock force rises if the gain increases.
·
Increase the gain as much as possible provided that the adjusted gain does not cause machine vibra-
tion.
In the case of the U Series, decrease the value of the speed loop integral time constant.
D
Current Command Filter
·
The response characteristics of the Servo System in high frequencies change by adjusting this gain.
·
If the value of the filter time constant is large, command changes will be made less extreme and will
then be provided to the current loop.
·
The adjustment of the current comment filter will be effective if machinery vibration does not stop with
the adjustment of the speed loop proportional gain and integral gain.
Adjustment Example 1
·
Refer to the following for the normal adjustment of the Servo System that will not require any adjust-
ment of the current command filter to stop machine vibration (i.e., the current command filter is used
with factory settings).
·
Adjust the proportional gain first, and then the integral gain.
Before Adjustment
Machine resonance point
Frequency (operating speed)
After adjustment
©
Increase the integral gain pro-
vided that the adjusted gain does
not cause machine vibration.
¡
Increase the proportional gain
provided that the adjusted gain
does not cause machine vibration.
Frequency (operating speed)
C
om
pe
ns
at
in
g
fo
rc
e
C
om
pe
ns
at
in
g
fo
rc
e
Gain Adjustment
Chapter 1
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