Chapter 4 Operation
4.8 Payload Adjusted for Setting Values
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4.8 Payload Adjusted for Setting Values
When payload is lower than maximum payload, there may be a case that;
• Operation noise could become loud
• Abnormal noise or vibration could occur
These conditions could be improved by adjusting the servo gain considering the actual payload.
Refer to the servo gain adjustment parameters list described in the next pages.
Select the servo gain parameter in which the actual payload exceeds the value in the column of
payload and in the line closest to the actual value.
Select the servo gain based on the total of the payloads below.
[Work Moving Type]
X-Axis : Load weight on the operation table
Y-Axis : Load weight including weight of Z-axis themselves
[Work Fixing Type]
X-Axis : Load weight including weight of Y-axis and Z-axis themselves
Y-Axis : Load weight including weight of Z-axis themselves
Caution: • The adjustment parameters described in the list should be taken as a reference.
There may be a case that the condition would not improve with the applicable
parameter.
• It should be improved by increase or decrease “Torque Filter Time Constant” if
“vibration” or “abnormal noise” remains even after adjusting “Velocity Loop
Proportional Gain” and “Velocity Loop Integrated Gain”.
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