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Manual Tuning Procedure (During Speed Control)
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Use the following procedure to perform operation with speed control (speed command voltage input).
Start
Turn OFF online auto-tuning (Pn110.0 = 2).
Turn ON the power (to enable Pn110.0 setting).
Set Pn103 (inertia ratio). Calculated during Servomotor selection.
Set rigidity (Fn001) for online auto-tuning.
Is Servomotor hunting (and groaning) with servo locked?
Reduce rigidity setting (Fn001) by 1.
Run under normal operating pattern and load
Positioning time, etc., satisfactory?
Increase Pn100 (speed loop gain) until there is no
hunting with Servolock ON.
Reduce Pn101 (speed loop integration constant
until there is no hunting with Servolock ON.
Any hunting (vibration) when the Servomotor rotates?
Rotate Servomotor and monitor operation.
If using positioning:
Increase Pn300 (speed control scale) or position loop
gain on the controller until there is no overshooting.
Increase Pn401 (torque command filter time constant)
Note
If vibration does not cease no matter how many times you per-
form adjustments, or if positioning is slow.
End adjustment
Increase rigidity setting (Fn001) until there is no hunting.
Increase Pn101 (speed loop integration constant)
Reduce Pn100 (speed loop gain
Pn101 setting target
End adjustment
Reduce rigidity setting (Fn001) until there is no hunting.
Note
Do not perform extreme adjustment and setting changes
as they may destabilize the operation. Adjust the gain a
little at a time while checking the Servomotor operation.
If using speed operation:
Set Pn300 (speed command scale) to match rotation speed.
(See note.)
Note
Set the online auto-tuning to be always OFF (Pn110.0 = 2).
Operation
Chapter 4
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