Shibaura CA20-M10, Руководство по эксплуатации

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2.4.9 Servo gain adjustment
There are two kinds of gain in the servo mechanism of this ROIbot: position gain and speed
gain. They are set through parameter 1. Generally, a larger servo gain enables higher speed
response in the servo mechanism and a smaller servo gain enables smooth movement of the
ROIbot. An inappropriate gain setting can cause overshoot or undershoot. It can also result in
vibration and noise. Normally, the appropriate servo gain is set automatically when the Robot
Type (six-digit figure) is entered. However, when you have to adjust the gain according to
actual load conditions of the ROIbot, adjust it following the instruction below.
NOTE There are 100 gain settings, 0 to 99. Change the gain setting little by little according
to the Robot Type's preset value while checking the ROIbot movement.
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Servo gain (position)
When high speed response is desired, set the value of the servo gain for positioning to a
larger value. Note that if it is set too large, hunting (oscillation) can occur. If this happens,
adjust it to a smaller setting. A smaller value will enable smoother movement of the ROIbot,
but the positioning time increases with smaller values.
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Servo gain (speed)
Set the servo gain for speed at a value one lower than the level at which the motor begins to
generate small vibration in servolock condition (the motor is stopped with the power ON.)
When the value is set too large, beat noise will be caused by small vibration of the motor. In
this case, set it to a smaller value.
When the servo gain for speed is too low, low frequency hunting (oscillation) occurs in the
motor. In this case, set the gain to a larger value. When the value is set too small, an
overflow error can be generated because of the delayed response to a command of the
motor.