6. NORMAL GAIN ADJUSTMENT
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6.5 2gain adjustment mode
The 2 gain adjustment mode is used to match the position loop gains of the axes when performing the
interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode,
manually set the model loop gain that determines command trackability. Other parameters for gain
adjustment are set automatically.
(1) 2 gain adjustment mode 1 (interpolation mode)
The 2 gain adjustment mode 1 manually set the model loop gain that determines command trackability.
The mode constantly estimates the load to motor inertia ratio, and automatically set other parameters for
gain adjustment to optimum gains using auto tuning response.
The following parameters are used for 2 gain adjustment mode 1.
(a) Automatically adjusted parameter
The following parameters are automatically adjusted by auto tuning.
Load to motor inertia ratio
Speed integral compensation
(b) Manually adjusted parameter
The following parameters are adjustable manually.
(2) 2 gain adjustment mode 2
Use 2 gain adjustment mode 2 when proper gain adjustment cannot be made with 2 gain adjustment
mode 1. Since the load to motor inertia ratio is not estimated in this mode, set the value of a proper load
to motor inertia ratio in [Pr. PB06].
The following parameters are used for 2 gain adjustment mode 2.
(a) Automatically adjusted parameter
The following parameters are automatically adjusted by auto tuning.
Speed integral compensation
(b) Manually adjusted parameter
The following parameters are adjustable manually.
Load to motor inertia ratio
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