CHAPTER 5 SERVO ADJUSTMENT

Approximate values specified in the table on the previous page are reference values for a general

mechanical configuration of the transfer system.

The approximate gain reference value varies according to the configuration of the mechanical

system, load inertia ratio, etc.

Refer to the adjustment procedure below. Parameters marked "-" in the speed control field in the

table on the previous page need no adjustment.

5.5.4 Manual Tuning Adjustment Procedure

START

Select the manual tuning mode.

Re-read out of the parameters.

5

Enter the load inertia ratio.

Increase speed loop gain 1 to the

maximum as far as vibration or

abnormal noises are not caused.

Adjust the torque filter time constant

for position and speed control.

Decrease speed loop integration time

constant 1.

Increase position loop gain 1.

Decrease the moving average S-curve time and *1)

position command response time constant.

Increase feed forward gain 1.

*1)

If resonance is caused in the mechanical

*1)

system, check the notch filter settings again.

END

*1) Adjustment is unnecessary under speed control.

Manual Tuning 5-17