TECO JSDG2S Series - 6-6 Manual Gain Adjustment

6-27
6-6 Manual Gain Adjustment
Speed Control Mode Manual Gain Adjustment
Step 1:
Set the rigidity level and receive correct load inertia ratio, can refer to 6-3 automatic gain
adjustment instructions and 6-9 online-auto tuning (Inertia only displays) to obtain load
inertia ratio.
Step 2:
If this device (Speed control) forms position control with the supervisory controller, set the
position loop gain of the supervisory controller to a relatively low value.
Step 3:
Manually adjust
Sn211
(Speed loop gain 1):
First set the
Sn212
(Speed loop integration time constant 1) higher than the value after being
adjusted by automatic gain, and then increase the speed loop gain until no vibration or noise
is generated. Then, adjust the speed loop gain slightly and increase the position loop gain of
the supervisory controller until no vibration or noise is generated.
Step 4:
Manually adjust
Sn212
(Speed loop integration time constant 1):
Decrease the speed loop integral time constant under the premise of no mechanical vibration
is generated and shortens the settling time.
Step 5:
Finally, slowly fine tune the speed loop gain, position loop gain of the supervisory controller
and the speed loop integration time constant to adjust the system operation to the optimum
response.
Position Control Mode Manual Gain Adjustment
Step 1:
Set the rigidity level and receive correct load inertia ratio, can refer to 6-3 automatic gain
adjustment instructions and 6-9 online-auto tuning (Inertia only displays) to obtain load
inertia ratio.
Step 2:
Set
Pn310
(Position loop gain 1) as the value lower than the one after automatic gain
adjustment.
Step 3
: Increase torque command filter Cn034 under the condition no system vibration occurs.
Step 4
: Increase speed loop gain Sn211 as much as possible and decrease speed integration time
constant Sn212 under the condition no system vibration occurs.
Step 5
: Repeat step 3 & 4; when vibration or noise occurs, return current parameters of Sn211 &
Sn212 10%~20%.
Step 6:
Manually adjust
Pn310
(Position loop gain 1):
Then, adjust the speed loop gain slightly, and increase the position loop gain until no
vibration or noise is generated.
Step 7
: Finally, slowly fine tune the speed loop gain, position loop gain as well as the speed loop
integration time constant to adjust the system operations to the optimum response.