CHAPTER 5 SERVO ADJUSTMENT
5-16
Manual Tuning
5
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
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
Approximate reference
value
Position
control
Speed
control
PA1_13 Tuning mode selection 12: Manual tuning
PA1_14 Load inertia ratio
Enter a stable assumed
value (or average value).
PA1_51 Moving average S-curve time 16 or over
-
PA1_54
Position command response
time constant
Kpt ≥ 600/Kp1
-
PA1_55 Position loop gain 1 Kp1 ≤ Kv1 × (1 to 3)
-
PA1_56 Speed loop gain 1 Kv1 ≤ 2000/ (1+Jl)
PA1_57
Speed loop integration time
constant 1
Ki1 ≥ 500/Kv1
PA1_58 Feed forward gain 1 Specify when necessary.
-
PA1_59
Torque filter time constant for
position and speed control
0.1 ≤ Tt ≤ 1.0
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