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6. GENERAL GAIN ADJUSTMENT
6.5 Manual mode
If the adjustment made by the auto tuning mode 1 and 2-gain adjustment mode is not satisfactory, adjust the
load to motor inertia moment and all gains in the manual mode.
POINT
Use this mode if the estimation of the load to motor inertia moment ratio is not
the normal value.
Use this mode to perform the vibration suppression control tuning.
(1) For internal speed control
(a) Parameters
The following parameters are used for gain adjustment.
Parameter No. Abbreviation Name
PB06 GD2 Load to motor inertia moment ratio
PB07 PG1 Model loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation
(b) Adjustment procedure
Step Operation Description
1
Brief-adjust with auto tuning. Refer to section 6.3.3.
2
Change the setting of the tuning mode to the manual mode (Parameter No.
PA08: 003)
3
Set an estimated value to load to motor inertia moment ratio. (If the estimate
value with auto tuning is correct, setting change is not required.)
4
Set a small value to the model loop gain.
Set a large value to the speed integral compensation.
5
Increase the speed loop gain within the vibration- and unusual noise-free
range, and return slightly if vibration takes place.
Increase the speed loop gain.
6
Decrease the speed integral compensation within the vibration-free range,
and return slightly if vibration takes place.
Decrease the time constant of the speed
integral compensation.
7
Increase the model loop gain, and return slightly if overshooting takes place. Increase the model loop gain.
8
If the gains cannot be increased due to mechanical system resonance or the
like, and the desired response cannot be achieved, response may be
increased by executing steps 3 to 7 after suppressing the resonance by the
adaptive tuning mode or the machine resonance suppression filter.
Suppression of machine resonance.
(Refer to section 7.2.)
9
While checking the rotational status, fine-adjust the each gain. Fine adjustment
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