waiting time P1-15 reached,
if the absolute value of the
actual speed is less than
(level) [RPM], the speed
integral time constant is
fixed at the second speed
loop integral time constant
(P1-07), and the others
return to the first gain. If
the absolute value of the
actual speed is less than
(level-hysteresis) [RPM],
the speed integral also
returns to the integral time
constant of the first speed
loop (P1-02).
6.9 Gain adjustment
6.9.1 Load shaking
The following causes cause load wobble:
1. The instruction is not smooth enough when the load inertia is too large.
Countermeasure:
(1) Use position instruction smoothing filter P1-25;
(2) Optimizing the instructions of the upper device to reduce the acceleration of the instructions;
(3) Replace the motor with greater inertia.
2. Servo gain is too small, resulting in insufficient rigidity
Countermeasure:
(1) Increase the gain parameters and rigidity to enhance the anti-disturbance ability.
3. Insufficient rigidity of mechanism and equipment sloshing
Countermeasure:
(1) Reducing gain parameters;
(2) Optimize the instructions of the upper device and reduce the acceleration of the instructions.
6.9.2 Vibration
The following causes cause machine vibration:
(1) Vibration due to inappropriate servo gain
Countermeasure: Reduce gain
(2) Mechanical resonance point
Countermeasure: Setting notch parameters manually or through mechanical characteristic analysis
6.9.3 Noise
In adaptive mode:
(1) Inappropriate servo gain
Countermeasure: Reduce the adaptive control bandwidth (P2-19).
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