4-94
H
Selecting Mechanical Rigidity During Online Auto-tuning (Fn001)
•
Setting the rigidity during online auto-tuning sets the servo system’s target speed loop gain and posi-
tion loop gain.
•
Select the rigidity setting (Fn001) from the following 10 levels to suit the mechanical system.
Response
Rigidity
setting
Fn001
(d.00
jj
)
Position
loop gain
(S
--1
)
Pn102
Speed loop
gain
(Hz)
Pn100
Speed loop
integration
time
constant
(x 0.01 ms)
Pn101
Torque
command
filter time
constant
(x 0.01 ms)
Pn401
Representative
applications
(mechanical
system)
Low
01
15
15
6000
250
Articulated
robots,
harmonic
02
20
20
4500
200
harmonic
drives, chain
drives, belt
drives rack and
03
30
30
3000
130
drives, rack and
pinion drives,
etc.
Medium
04
40
40
2000
100
XY tables, Car-
tesian-coordi-
nate robots,
general-pur-
pose machin-
ery, etc.
High
05
60
60
1500
70
Ball screws
(
g
06
85
85
1000
50
(direct
coupling)
07
120
120
800
30
coupling),
feeders, etc.
08
160
160
600
20
feeders, etc.
09
200
200
500
15
10
250
250
400
10
Note 1.
The servo-system loop gain will rise in response to a higher rigidity setting, shortening posi-
tioning time. If the setting is too large, however, the machinery may vibrate, so make the set-
ting small.
Note 2.
When setting the rigidity, the user parameters in the above table will change automatically.
Note 3.
If you enable auto-tuning without setting the rigidity, the user parameter settings (Pn102,
Pn100, Pn101, and Pn401) will be used as the tuning target values.
Operation
Chapter 4
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : [email protected]