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A d j u s t m e n t s
How to Adjust Gain
No
Normal auto gain tuning
No
<Notes>
• Pay extra attention to the safety.
• If the machine enters to oscillation (abnormal sound and vibration), shut off the power immediately,
or change to Servo-OFF.
Start
Turn gain adjustment rotary switch GAIN CW.
Actioon OK? Abnormal sound or vibration occurs.
Return gain adjustment rotary switch GAIN to original position. (Turn CCW.)
OK
Action OK?
NG
Adjust gain adjustment rotary switch to "0" position.
Automatic adjustment (automatic gain tuning)
Yes
Actioon OK? Abnormal sound or vibration occurs.
Yes
Manual gain tuning
Action OK?
NG
Any affect of the
machine resonance ?
Yes
Notch filter
Torque command filter
Do you need higher
response ?
Yes
2nd gain switching
function
NG
Action OK?
OK
Downloading to
EEPROM
End
- 52 -
· Adjust setting to value suitable for machine configuration.
· For table of rotary set values and machine configuration,
see page 58.
No
· Setting by PANATERM
Real time auto gain tuning
· Guidance values of gains
· Monitoring the velocity and torque using PANATERM
fine-adjust the gains so that the motor action follows
the commands.
OK
No
Measure the resonance frequency
of machine system
Pr1D
Pr14,Pr1C
No
is required.
®
,
®
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