SERVO ADJUSTMENT
B.3.1 Adjusting Using Auto-tuning
380
B.3 Adjusting a Position-control Servopack
This section gives examples of adjusting the gains of a position-control Servopack
manually and using auto-tuning.
B.3.1 Adjusting Using Auto-tuning 380....................................
B.3.2 Manual Adjustment 381...........................................
B.3.1 Adjusting Using Auto-tuning
The DR1 Servopack does not offer auto-tuning.
1) Important Points About Auto-tuning
a) Speed During Auto-tuning
Auto-tuning may not function correctly if the speed is too low. Set the speed to approx-
imately 500 r/min.
Set the speed with the user constant Cn-10 (Jog speed).
b) Selecting Machine Rigidity
If the machine rigidity is unknown, select the rigidity according to the following stan-
dards.
Drive Method
Machine Rigidity
SGDA, SGDB, DR2 SGD
Ball screw, direct 3 (C-003) to 7 (C-007) High/medium response
Ball screw, with reduction gears 2 (C-002) to 3 (C-003) Medium response
Timing belt 1 (C-001) to 3 (C-003) Low/medium response
Chain 1 (C-001) to 2 (C-002) Low response
Wave reduction gears* 1 (C-001) to 2 (C-002) Low response
* Procuct name: Harmonic Drive
Select the machine rigidity level for SGDA, SGDB and DR2 according to the table.
Level Rigidity
7 (C-007) High
6 (C-006)
⋮
5 (C-005)
⋮
4 (C-004)
⋮
3 (C-003) Medium
2 (C-002)
⋮
1 (C-001) Low
B
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