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1-7
Adjustment Example 2
·
Refer to the following for the adjustment of the Servo System that has a strong machine resonance
point in a high-frequency band. In this condition, the motor may continue buzzing or vibrate at high
frequency if the gains are low.
·
Adjust the current command filter time constant, proportional gain, and integral gain in this order. The
resonance of the Servo System with the machine system can be avoided by increasing the value of the
current command filter time constant. Then adjust the other gains in the usual way.
Before Adjustment
Frequency (operating speed)
After adjustment
Frequency (operating speed)
C
om
pe
ns
at
in
g
fo
rc
e
C
om
pe
ns
at
in
g
fo
rc
e
Strong machine resonance point
Vibrates at this point
Stops vibrating
Strong machine resonance point
Adjust the current command filter by increasing the
value of the current command filter time constant.
Adjustment Example 3
·
Refer to the following for the adjustment of the Servo System that has a strong machine resonance
point in a low-frequency band. In this condition, the motor may vibrate at low frequency if the gains are
low.
·
Adjust the proportional gain and then integral gain. To avoid the resonance of the Servo System with
the machine system, decrease the value of the proportional gain. Then adjust the integral gain so that
the Servo System can maintain necessary response speed.
Before Adjustment
Frequency (Operating speed)
After adjustment
Frequency (Operating speed)
C
om
pe
ns
at
in
g
fo
rc
e
C
om
pe
ns
at
in
g
fo
rc
e
Strong machinery resonance point
Vibrates at this point
Stops vibrating
Strong machinery resonance point
©
Increase
the integral
gain provided
that the adjusted
gain does not cause
machine vibration.
¡
Decrease the proportion-
al gain provided that the
adjusted gain does not
cause machine vibration.
Response Speed Change vs. Speed Loop Adjustment
The following graph indicates how the response characteristics of the Servo System will vary with the
changes in the speed loop gain and adjustment parameter value.
Gain Adjustment
Chapter 1
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