155
[Adjustment]
Suppress the vibration by lowering the gain.
Stop
(Servo-Lock)
Low gain
(1st gain)
Low gain
(1st gain)
High gain
(2nd gain)
1ms 2ms
Stop
(Servo-Lock)
Run Time
Command speed
Action
Status
Gain
Title of parameter
10
11
12
13
14
15
16
18
19
1A
1B
1C
30
31
32
33
34
35
63
35
16
0
65
300
50
0
63
35
16
0
65
1
7
30
0
0
0
27
84
1st position loop gain
1st velocity loop gain
1st velocity loop integration time constant
1st speed detection filter
1st torque filter time constant
Velocity feed forward
Feed forward filter time constant
2nd position loop gain
2nd velocity loop gain
2nd velocity loop integration time constant
2nd speed detection filter
2nd torque filter time constant
2nd gain action set up
1st control switching mode
1st control switching delay time
1st control switching level
1st control switching hysteresis
Position loop gain switching time
20
Inertia ration
Execute manual
gain-tuning
without gain
switching
•
Enter the known value
from load calculation
• Measure the inertia
ratio by executing nor
mal auto-gain tuning
• Default is 250
Set up the same
value as SV.Pr10-
14 (1st gain)
to SV.Pr18-1C
(2nd gain)
Set up
SV.Pr30-35
(Gain switching
condition)
Adjust SV.Pr11
and 14 at
stopping
(1st gain)
Servo
Parameter
No.
(SV.Pr**)
Gain Switching Function
At manual gain tuning, you can set 2nd gain
manually in addition to 1st gain and you can
switch the gain depending on the various re-
quirements of the action such cases as,
• you want to increase the response by increas-
ing the gain in motion
• you want to increase the servo-lock stiffness
by increasing the gain at stopping
• switch to the optimum gain according to the
action mode
• lower the gain to suppress the vibration at stopping.
<Example>
Following is the example when you want to reduce the noise at motor in stall (Servo-Lock), by setting up to
lower gain after the motor stops.
• Make adjustment referring to the auto-gain tuning table (P.149) as well.
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