NSK EDD Megatorque Motor - Manual Tuning (Level 3)

5. Tuning
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5.4. Tuning Level 3: Manual Tuning
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Danger : Take an appropriate precaution for a full turn of the Motor.
 Execute the manual tuning when the “5.3.2 Minor Tuning of Servo Gains” is not successful.
 The manual adjustment is the one fine-tuning it by adjusting VG (Velocity loop proportional gain) when
a satisfactory adjustment is not obtained by “5.3.2 Minor Tuning of Servo Gains”.
5.4.1. Precautions for Manual Tuning
1) Initialize the servo parameters referring to “5.2.2 Initialization of Servo Parameters.”
2) Set the load moment of inertia before the manual tuning referring to “5.3.1 Input of Load moment of
Inertia.”
3) Use the demonstration program SP/AJ to operate the Motor.
Follow the procedures 1) to 8) in “5.2.4 Trial Running.”
5.4.2. Setting Velocity Loop Proportional Gain (VG)
 Perform a minor tuning of the parameter VG (Velocity loop proportional gain).
1) Input Parameter code + /AJ.
The screen changes as shown below, then the parameter VG value can be changed by the keys
＋ and － .
:>
:>VG/AJ
STEP 0.10
VG 0.50 _
G
/
V
J
ENT
A
Current value
Increment/decrement of VG value for an input of ＋ or － key
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Caution : An input of the keys SHIFT + .
=
will alter the increment or the
decrement of an input of the (+) and (–) keys to 10 times of the current
setting.
 Be careful with the motor vibration because this will make sudden change of the VG
value.
An input of the .= key will alter the increment or the decrement of an
input of the (+) and (–) keys to 1/10 of the current setting.
2) Input the ＋ key several times observing the motion of the Motor.
:>
:>VG/AJ
STEP 0.10
VG 3.00 _
Pressing
SHIFT
-
+
-
+
…
Observe how the responsiveness of the Motor improves as the setting of VG gets higher.