40
6250 Servo Controller User Guide
S t e p 8
After raising the
SGV
gain to 2.4, overshoot
reduced a little, but chattering reappeared.
This meant the gains were still too high.
Next, we should lower the
SGV
gain until
chattering stops.
SGP = 85
SGV = 2.4
S t e p 9
After lowering the
SGV
gain to 2.2 (even
less than in Step 7—2.3), chattering
stopped.
Next we should lower the
SGP
gain.
SGP = 85
SGV = 2.2
S t e p 1 0
Overshoot was reduced very little after
lowering the
SGP
gain to 70. (The
SGV
gain might have been lowered too much in
Step 9.)
Next, we should try raising the
SGV
gain
again until the overshoot is gone.
SGP = 70
SGV = 2.2
S t e p 1 1
When we raised the
SGV
gain to 2.52, the
step response became fast and very stable.
SGP = 70
SGV = 2.52
Target Zone (Move Completion Criteria)
Under default operation (Target Zone Mode not
enabled), the 6250's move completion criteria is
simply derived from the move trajectory. The
6250 considers the current preset move to be
complete when the commanded trajectory has
reached the desired target position; after that,
subsequent commands/moves can be executed for
that same axis. Consequently, the next move or
external operation can begin before the actual
position has settled to the commanded position
(see diagram).
Position
Time
Velocity
Commanded
Actual
Actual
Commanded
Time
When the Target Zone Mode
is not enabled, the move is
considered to be complete
and subsequent moves can
now be executed.
Move is actually
Completed
