Servo Adjustment
6.2.1 Setting Servo Gain
6 -6
6.2 High-speed Positioning
This section provides technical information on high-speed positioning.
6.2.1 Setting Servo Gain
Use the servo gain setting function in the following cases.
D
To check each servo gain value that is automatically set after auto-tuning.
D
To directly set each of the above servo gain values in another Servopack.
D
To further refine responsiveness after autotuning (either to increase responsiveness or to re-
duce it).
J
J
Setting Speed Loop Gain
Set the following speed-loop-related user constants as required.
Pn100
Speed Loop Gain
(Kv)
Unit:
Hz
Setting
Range:
1 to 2000
Factory
Setting:
40
Speed/Torque
Control,
Position Control
Pn101
Speed Loop Integral
Time Constant (Ti)
Unit:
0.01ms
Setting
Range:
15 to 51200
Factory
Setting:
2000
Speed Control,
Position Control
The above constantsare theServopack’sspeedloop gainand integraltime constantrespectively.
The higher the speed loop gain, or the smaller the speed loop integral time constant value, the
fasterthespeedcontrolresponsewillbe.Thereis,however, acertain limitdepending onmachine
characteristics.
Speed reference
Speed reference loop gain
Speed feedback
+
--
Kv 1
+
1
TiS
Speed loop gain Kv is adjusted in 1-Hz increments provided that the following user constant is
set correctly.
Pn103
Inertia Ratio
Unit:
%
Setting
Range:
0 to 10000
Factory
Setting:
0
Speed/Torque
Control,
Position Control
Inertia ratio
=
Motor axis conversion load inertia (J
L
)
Servomotor rotor inertia (J
M
)
×
100(%)
The load inertia of the Servopack converted on the basis of the motor shaft is factory-set to the
rotor inertia of the Servomotor. Therefore, obtain the inertia ratio from the above formula and
set user constant Pn103 properly.
The above user constants are automatically set by the autotuning operation.
6
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]
