CHAPTER 5 SERVO ADJUSTMENT

5.5 Manual Tuning

If the result of "auto tuning application" is not satisfactory or if faster response is intended, perform

manual adjustment of all gains.

5.5.1 Conditions for Manual Tuning

Check the following conditions when adjusting.

 The load inertia ratio of the mechanical system is within the range shown below.

GYB/GYC/GYS motor (750 W or less) : 100 times or over

GYC/GYS motor (1.0 kW or more) : 30 times or over

GYG motor

: 10 times or over

5

 The backlash of the mechanical system is not large and the belt is free from deflection.

 Auto tuning has been performed.

5.5.2 Parameters Used for Manual Tuning

Parameters used for gain adjustment are shown in the table in the next section.

5.5.3 Approximate Gain Reference Value

If manual tuning is performed to change parameters without performing auto tuning, the

control system in the servo amplifier becomes imbalanced and triggers hazard.

Be sure to perform re-read out of the parameters after auto tuning, and conduct

adjustment based on those parameters.

No.

Name

PA1_13 Tuning mode selection

PA1_14 Load inertia ratio

PA1_51 Moving average S-curve time

PA1_54

Position command response

time constant

PA1_55 Position loop gain 1

PA1_56 Speed loop gain 1

PA1_57

Speed loop integration time

constant 1

PA1_58 Feed forward gain 1

PA1_59

Torque filter time constant for

position and speed control

Approximate reference

value

12: Manual tuning

Enter a stable assumed

value (or average value).

16 or over

Kpt ≥ 600/Kp1

Kp1 ≤ Kv1 × (1 to 3)

Kv1 ≤ 2000/ (1+Jl)

Ki1 ≥ 500/Kv1

Specify when necessary.

0.1 ≤ Tt ≤ 1.0

Position

control



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Speed

control

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-

-

-

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-

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5-16 Manual Tuning