Gain Tuning Of Each Joint - Denso SMT7 Instruction Manual

Chapter 4 Configuring the Joint Parameters

Gain Tuning of Each Joint

4.7
In Section 4.5, you have set the motion conditions of each joint and checked the
motion of the mechanism connected to each joint motor in manual mode. After that,
proceed to the gain tuning for the servo system.
Tune the servo system according to the following two types of tuning methods:
(1) Auto gain tuning
The controller performs acceleration/deceleration operation of each joint according
to the default pattern preset in the controller. Based on the motion of each joint in that
operation, the controller will estimate the inertia of payload and set the appropriate
gain automatically.
(2) Manual gain tuning
The monitor function of the single-joint servo data monitors the motor speed control
value, current motor speed, motor angle deviation, and torque control value.
According to the monitored results, you can adjust the gain and torque control filter
parameters for optimizing the motion of each joint.
Follow the next flowchart to tune the servo system.
Adjust the torque control filter
N
Y
Abnormal end during auto gain tuning?
Motion of the joint OK?
N
Motion of the joint OK?
Set the positioning error allowance
59
Start
Do auto gain tuning?
Y
Auto gain tuning
N
N
Manual gain tuning
Y
End of tuning
Y