5-61
5-5-2 Manual Gain Adjustment
Manual Gain adjustment is made available for applications when auto tune is not
providing a good and stable system response, or a system where there is no significant
load variations and the auto tune is not used.
Manual Gain Adjustment in Speed control Mode
Step 1: Set Rigidity level in parameter Cn 26 (See section 5-5-1 for the selection table) and Cn25.
Step 2: If the Servo system includes a host controller which is used for positioning control, then it’s
position loop Gain should be set lower, relative to the servo drive Gain.
Step 3: Adjusting Speed Loop Gain 1 (Sn211):
a) Increase Sn212 (Integral Time Constant 1of Speed Loop). Set a higher value than default
or the set value when auto tune was unsuccessful.
b) Increase the Speed Loop Gain (Sn211) until there is no vibration or noise.
c) Then decrease the Speed Loop Gain (Sn211) slowly and increase Position Loop Gain of
Host Controller until there is no vibration or noise.
Step 4: Adjusting Speed Loop Integral Time Constant 1 (Sn212):
Set the Integral Time Constant of Speed Loop for minimum time setting that without causing
mechanical vibration.
Step 5: Finally, Slowly adjust the Speed Loop Gain, Position Loop Gain of Host Controller and Integral
Time Constant of Speed Loop until the servo system provides the best response.
Manual Gain Adjustment in Position Control mode
Step 1: Set Rigidity level in parameter Cn 26 (See section 5-5-1 for the selection table) for the
correct Load Inertia Ratio.
Step 2: Decrease Position Loop Gain 1 (Pn 310).
Set a lower value than default or the set value when auto tune was unsuccessful.
Set a relatively higher value in Sn212 (Integral Time Constant 1 of Speed Loop).
Step 3: Adjust Speed Loop Gain 1(Sn211).
Increase the Speed Loop Gain until there is no vibration or noise.
Step 4: Adjusting Position Loop Gain 1 (Pn310).
Slowly decrease the Speed Loop Gain again, then increase the Position Loop Gain until there is
no vibration or noise.
Step 5: Adjusting Speed Loop Integral Time Constant 1 (Sn212).
Set the Integral Time Constant of Speed Loop for a minimum time without causing mechanical
vibration.
Step 6: Finally, slowly adjusting the Speed Loop Gain, Position Loop Gain and the Integral Time
Constant of Speed Loop until the servo system provides the best response.
To Next Page
Loading...
Need help?
General
