TUNING
8-15
- SV Series User’s Manual -
8-4 Gain Search PRO
Servo amplifier executes a gain adjustment by measuring mechanical characteristics.
This delivers a finer mechanical adjustment than auto tuning.
Two methods are available: the "W/o higher-level command" whereby the servo motor gain is automatically adjusted within a
setting range (CW and CCW); and the "W/ higher-level command" whereby commands from higher-level positioning/motion
unit are used for an automatic gain adjustment.
If the "W/o higher-level command" method fails to give you a desired effect, the "W/ higher-level command" can be used.
In the Gain search PRO (
W/o higher-level command
) mode, the following specifications apply.
*
Up to 99990000 command pulses can be set up. However, even if 3145000 command pulses (servo motor shaft x3
revolutions) are selected, the movement distance is still servo motor shaft x3 revolutions when executing estimation
of ratio of inertia moment.
This is the case whereby electric gear is set to 1/1. If another value is used, depending on settings of electric gear,
the servo motor shaft speed will also change. Even if electric gear is set to a value other than 1/1, the max. movement
distance is still servo motor shaft x3 revolutions.
Gain search PRO (w/o higher-level command) is enabled in position control mode and speed control mode, and Gain
search PRO (w/ higher-level command) is enabled in position control mode.
Parameters Adjusted automatically in Gain Search PRO
For Gain search PRO, the following parameters may be adjusted automatically.
• Gain adjustment (position control gain, speed control gain, integral time constant etc)
• Filter adjustment (torque command LPF/Nortch filter)
• Friction compensation function
• Anti-resonance control
• Vibration suppression (when only tuning type is set to "Middle" or "High")
Setting of Tuning Type and Filter Type
To meet different tuning requirements, Gain search PRO provides two types of parameters, the tuning type and filter type.
Their setting target values are listed in the table.
Item Specification
Max. speed Servo motor rated speed x2/3
Max. acceleration torque Servo motor rated torque
Movement distance
Servo motor shaft x0.5 to 3 revolutions (525 to 3145000 command pulse
*
)
(set as per 1000 command pulse units, default is servo motor shaft x3 revolutions)
Parameter Setting Description
Tuning type
Low Delivers a higher stability (default).
Middle
Delivers a higher response characteristic. It has a more effective overshoot
suppression than "High".
Selection can be made only in position control mode.
High
Delivers a higher response characteristic. Selection can be made only in position
control mode.
Filter type
Belt For belt-driven mechanism with a low rigidness.
Ball screw For ball screw-driven mechanism with a high rigidness . (default)
Rigid body For mechanisms which are driven by rigid body such as gears and cams.
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