6.GENERAL GAIN ADJUSTMENT
(c)Adjustment description
1)Speed control gain 2 (parameter No. 16)
This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression:
Speed loop response frequency(Hz) |
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| Speed control gain setting |
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| (1 ratio of load inertia moment to servo motor inertia moment) 2 | |
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2)Speed integral compensation (parameter No. 17)
To eliminate stationary deviation against a command, the speed control loop is under proportional integral control. For the speed integral compensation, set the time constant of this integral control. Increasing the setting lowers the response level. However, if the load inertia moment ratio is large or the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless the setting is increased to some degree. The guideline is as indicated in the following expression:
Speed integral | 2000 to 3000 | ||
composition setting (ms) |
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| Speed control gain 2 setting/ (1 ratio of load inertia moment |
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| to servo motor inertia moment.) |
(2) For position control
(a) Parameters
The following parameters are used for gain adjustment:
Parameter No. | Abbreviation | Name |
12 | GD2 | Ratio of load inertia moment to servo motor inertia moment |
13 | PG1 | Position control gain 1 |
16 | VG2 | Speed control gain 2 |
17 | VIC | Speed integral compensation |
(b) Adjustment procedure
Step |
| Operation | Description |
1 | Set an estimated value to the ratio of load inertia moment to servo |
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motor inertia moment (parameter No. 12). |
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2 | Set a slightly smaller value to the position control gain 1 (parameter |
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No. 13). |
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| Increase the | speed control gain 2 (parameter No. 16) within the | Increase the speed control gain. |
3vibration- and unusual
4 | Decrease the speed integral compensation (parameter No. 17) within | Decrease the time constant of the speed | |
the | integral compensation. | ||
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5 | Increase the position control gain 1 (parameter No. 13). | Increase the position control gain. | |
| If the gains cannot be increased due to mechanical system resonance or | Suppression of machine resonance | |
| the like and the desired response cannot be achieved, response may be | Refer to Section 7.2 and 7.3. |
6increased by suppressing resonance with adaptive vibration suppression control or machine resonance suppression filter and then executing steps 3 to 5.
7 | While checking the settling characteristic and rotational status, fine- Fine adjustment | |
adjust each gain. | ||
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