8.13 Manual Tuning
8.13.1 Tuning the Servo Gains
8-85
8
T
uning
Model Following Control Gain
The model following control gain determines the response characteristic of the Servo System. If
you increase the setting of the model following control gain, the response characteristic will
improve and the positioning time will be shortened. The response characteristic of the Servo
System is determined by this parameter, and not by Pn102 (Position Loop Gain).
Model Following Control Bias in the Forward Direction and Model Following Control Bias in
the Reverse Direction
If the response is different for forward and reverse operation, use the following parameters for
fine-tuning.
If you decrease the settings, the response characteristic will be lowered but overshooting will
be less likely to occur.
Parameter
Function
When Enabled
Classification
Pn140
(2140
hex)
n.
0
(default setting)
Do not use model following control.
Immediately
Tuning
n.
1
Use model following control.
n.
0
(default setting)
Do not perform vibration suppression.
n.
1
Perform vibration suppression for a specific
frequency.
n.
2
Perform vibration suppression for two specific
frequencies.
Pn141
(2141
hex)
Model Following Control Gain
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
10 to 20,000
0.1/s
500
Immediately
Tuning
For machines for which a high model following control gain cannot be set, the size
of the position deviation in model following control will be determined by the set-
ting of the model following control gain. For a machine with low rigidity, in which a
high model following control gain cannot be set, position deviation overflow
alarms may occur during high-speed operation. If that is the case, you can
increase the setting of the following parameter to increase the level for alarm
detection.
Use the following conditional expression for reference in determining the setting.
Pn143
(2143
hex)
Model Following Control Bias in the Forward Direction
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
0 to 10,000
0.1%
1,000
Immediately
Tuning
Pn144
(2144
hex)
Model Following Control Bias in the Reverse Direction
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
0 to 10,000
0.1%
1,000
Immediately
Tuning
Position
Information
2.0
141/10 [1/s]
520 ≥
Pn
Pn
Maximum feed speed [reference units/s]
Pn520
(2520
hex)
Position Deviation Overflow Alarm Level
Setting Range
Setting Unit
Default Setting When Enabled Classification
1 to
1,073,741,823
1 reference
unit
5,242,880
Immediately
Setup
Position
Position
Position
