5-34
5
4. Manual Gain Tuning (Basic)
Adjustment
Gain Switching Function
By selecting appropriate gain based on internal data or external signal, the following ef
-
fects can be obtained.
• Decrease the gain at the time of stoppage (servo lock) to reduce vibration.
• Increase the gain at the time of stoppage (setting) to shorten the settling time.
• Increase the gain during operation to improve command compliance.
• Based on condition of the equipment, change the gain with external signal.
<Example>
Following is the example when you want to reduce the noise at motor in stall (Servo-Lock),
by setting up to lower gain after the motor stops.
• Make adjustment referring to the basic gain parameter setup table (P.5-9) as well.
1st gain of position loop
1st gain of velocity loop
1st time constant of velocity integration
1st filter of velocity detection
1st time constant of torque filter
Velocity feed forward
Filter of velocity feed forward
2nd gain of position loop
2nd gain of velocity loop
2nd time constant of velocity integration
2nd filter of velocity detection
2nd time constant of torque filter time
Action setup of 2nd gain
1st mode of control switching
1st delay time of control switching
1st level of control switching
1st hysteresis of control switching
Switching time of position gain
Inertia ration
Execute manual
gain-tuning
without gain
switching
Set up the same
value as Pr1.05
to 1.09 (2nd gain)
to Pr1.00 to 1.04
(1st gain)
Set up Pr1.14 to
1.19
(Gain switching
condition)
Adjust Pr1.01
and 1.04 at
stopping
(1st gain)
Title of parameter
1.00
1.01
1.02
1.03
1.04
1.10
1.11
1.05
1.06
1.07
1.08
1.09
1.14
1.15
1.16
1.17
1.18
1.19
630
350
160
0
65
300
50
0
630
350
160
0
65
1
7
30
0
0
0
270
84
0.04
• Enter the known
value from load
calculation
• Measure the
inertia ratio by
executing nor
mal auto-gain
tuning
• Default is 250
Parameter
No.
(Pr )
Suppress the vibration by lowering the gain.
Stop
(Servo-Lock)
Low gain
(1st gain)
Low gain
(1st gain)
High gain
(2nd gain)
1 ms
2 ms
Stop
(Servo-Lock)
Run
Time
Command speed
Action
Status
Gain
Related page
• P.4-6 to P.4-85... “Details of parameter”
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: [email protected]
