142
Position loop gain : 20
Velocity loop gain : 100
Time constant of
V-loop integration
: 50
Velocity loop feed forward : 0
Inertia ratio : 100
Position loop gain : 100
Velocity loop gain : 50
Time constant of
V-loop integration
: 50
Velocity loop feed forward : 0
Inertia ratio : 100
Position loop gain : 100
Velocity loop gain : 50
Time constant of
V-loop integration
: 50
Velocity loop feed forward : 500
Inertia ratio : 100
+2000
-
2000
0
0.0 375250125 0.0 375250125 0.0 375250125
[r/min]
Command Speed
Motor actual speed
Gain setup : Low Gain setup : High
Gain setup : High + feed forward setup
Start adjustment
Automatic
adjustment ?
Ready for
command
input ?
Action O.K.?
Action O.K.?
Yes
Yes
Action O.K.?
Real time
auto-gain tuning
(Default)
Normal mode
auto-gain tuning
Release of
auto-adjusting
function
Manual gain tuning
Finish adjustment
Writing to EEPROM
Consult to authorized dealer
(see P.144) (see P.148)
(see P.151)
(see P.152)
No
No
Load
characteristics
vary?
Yes
No
Yes
No
No
No
Yes
Yes
Release of
auto-adjusting
function
(see P.151)
Gain Adjustment

Purpose

It is required for the servo driver to run the motor in least time delay and as faithful as possible against the

commands from the host controller. You can make a gain adjustment so that you can run the motor as

closely as possible to the commands and obtain the optimum performance of the machine.

<e.g. : Ball screw>

Procedures