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6.3. Manual gain tuning mode
The manual gain tuning mode is executed when the result of auto-gain tuning is not suitable for
the user‟s demand.
For the applications of position control or speed control, the bandwidth is highly related with the
machinery rigidity. For machine tools which the high precision required, a high bandwidth system
response is necessary. However, a high response level setting could cause the machine resonance
easily. Therefore, a high rigidity machine should be used for occasions that require a high response to
avoid machine resonance.
If users have no idea about the permissible response of the machine, they should adopt a smaller
gain value at first and then gradually increase the gain values until machine resonance occurred.
Then users could reduce the gain values accordingly. Reference parameter values for users to adjust
are listed in the following table:
Resonance suppression low-pass filter
Position feed-forward gain
Load to motor inertia ratio
Position loop gain (PG1)
This parameter determines the response level of the position loop. Increasing PG1 improves
traceability, settling time and position error but a too high value will make overshooting or vibration.
VG1 setting value 1
PG1 setting value
1 ratio of load inertial to motor shaft 4
1
PG1 setting value speed loop bandwidth
4
Speed loop gain (VG1)
This parameter determines the response level of the speed loop. Increasing VG1 improves
traceability to a speed command but a too high value will make machine resonance. The Speed
loop gain is usually 4~6 times bigger than the position loop gain. As the position loop gain is
greater than the speed loop gain, machine resonance or overshoot would be occurred easily.
VG1 setting value
Speed loop response frequency(Hz)=
1+ ratio of load inertial to motor shaft 2
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