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6. GENERAL GAIN ADJUSTMENT
6.4 2-gain adjustment mode
POINT
Use this mode to improve the response level after the one-touch tuning. Use
parameters No. PA09 or PB07 for fine adjustment.
Use the 2-gain adjustment mode for fine adjustment of the response level setting and the model loop gain.
(1) Parameters
(a) Automatically adjusted parameters
The following parameters are automatically adjusted by the auto tuning 1.
Parameter No.
Abbreviation
Name
PB06
GD2
Load to motor inertia moment ratio
PB08
PG2
Position loop gain
PB09
VG2
Speed loop gain
PB10
VIC
Speed integral compensation
(b) Manually adjusted parameters
The following parameters are adjustable manually.
Parameter No.
Abbreviation
Name
PA09
RSP
Auto tuning response
PB07
PG1
Model loop gain
(2) Adjustment procedure
Step
Operation
Description
1
Set to the 2-gain adjustment mode.
Set parameter No. PA08 (auto tuning mode)
to " 0".
2
During the operation, increase the response level setting (parameter No.
PA09), and reset the setting if vibration occurs.
Adjustment of the servo stability
3
During the operation, increase the model loop gain (parameter No. PB07),
and reset the setting if overshoot occurs.
Adjustment of the position track ability
(3) Adjustment description
The droop pulse value is determined by the following expression.
Droop pulse value (pulse) =
Rotation speed (r/min)
60
Servo motor resolution (pulse/rev)
Model loop gain setting
