4. Servo Adjustment
4 - 1
4-1 D/A output specifications for servo drive unit............................................................... 4-2
4-1-1 D/A output specifications....................................................................................... 4-2
4-1-2 Output data settings .............................................................................................. 4-3
4-1-3 Setting the output magnification............................................................................ 4-3
4-2 Gain adjustment........................................................................................................... 4-4
4-2-1 Current loop gain................................................................................................... 4-4
4-2-2 Speed loop gain..................................................................................................... 4-4
4-2-3 Position loop gain .................................................................................................. 4-6
4-3 Characteristics improvement ....................................................................................... 4-9
4-3-1 Optimal adjustment of cycle time.......................................................................... 4-9
4-3-2 Vibration suppression measures........................................................................... 4-11
4-3-3 Improving the cutting surface precision ................................................................ 4-14
4-3-4 Improvement of characteristics during acceleration/deceleration ........................ 4-17
4-3-5 Improvement of protrusion at quadrant changeover ............................................ 4-20
4-3-6 Improvement of overshooting ............................................................................... 4-25
4-3-7 Improvement of compensation control path.......................................................... 4-27
4-4 Adjustment during full closed loop control................................................................... 4-29
4-4-1 Outline ................................................................................................................... 4-29
4-4-2 Speed loop delay compensation........................................................................... 4-30
4-4-3 Dual feedback control (Optional function)............................................................. 4-31
4-5 Settings for emergency stop ........................................................................................ 4-33
4-5-1 Deceleration control .............................................................................................. 4-33
4-5-2 Vertical axis drop prevention control..................................................................... 4-35
4-6 Collision detection........................................................................................................ 4-37
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