8-22
TUNING
8-5 Gain Tuning PRO
- SV Series User’s Manual -
Setting of Response Level/Stability Level
Gain tuning PRO is achieved by setting up the response level and stability level. The advantages and disadvantages
are listed for different settings response level.
Advantages and disadvantages of stability level set to different sizes are shown in the table below.
Key Points
To execute Gain tuning PRO, be sure to pay attention to the following points.
• For adjustment of response characteristic level and stability level, it is important that you adjust response level from
lover values to higer values, until no vibration occurs. Then, raise the response level gradually.
• For a low frequency vibration, the vibration suppression function can be used for improvement.
" Vibration Suppression", Page 8-24
• The set speed control gain is referenced for adjustment. Before you start Gain tuning PRO, be sure to execute auto
tuning and parameter mapping to set up a correct gain.
• When the setting of load moment-of-inertia ratio is incorrect, appropriate adjustment cannot be executed. Before
Gain tuning PRO, be sure to execute estimation of ratio of inertia moment etc. Specify an appropriate moment-of-
inertia ratio before starting Gain tuning PRO.
• In case mechanism or load status are changed after executing Gain tuning PRO, the Gain tuning PRO should be
restarted. Be sure to change the following parameters to default value.
Otherwise, vibration might occur on the machine.
• Anti-resonance control: Disable
• 1-notch filter : Disable
• 2-notch filter : Disable
• Friction compensation: Disable
Response
characteristic
level
Advantage Disadvantage
Small
• Overshoot does not occur easily
• It is not easy for machine to vibrate
• Response of servo motor for command becomes slow
• Positioning adjustment time becomes longer.
Large
• Response of servo motor for command becomes slow
• Positioning adjustment time becomes longer.
• Overshoot tends to occurs
• It is easy for machine to vibrate
Stability level Advantage Disadvantage
Small
(if it is too large, vibration might occur on the
machine, so start adjustment firstly from smaller
value)
• It is easy for machine to vibrate
Large • It is not easy for machine to vibrate
• When it is larger than actual mechanical
property, the machine tends to vibrate
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