5-60
5-5-2 Manual Adjustting
z 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.
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