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Sigma II User's Manual
Note: This function is available provided that the inertia ratio set in Pn103 is correct. Therefore, perform
online auto-tuning to obtain and save the results as the parameters. Refer to 6.3 Auto-Tuning for
details. Otherwise, directly set the inertia ratio.
n
Adjustment Procedure
When adding the value of speed feedback compensation, be sure to follow the proce-
dure described below and make servo gain adjustments while watching the analog
monitor to observe the position error and torque reference. Refer to 6.5 Analog
Monitor for details.
1. Set parameter Pn110 to "0002" so that the online auto-tuning function will be
disabled. Refer to 6.3.4 Parameters Related to Online Auto-Tuning and Appen-
dix B List of Parameters for details regarding Pn110.
2. First, make normal servo gain adjustments with no feedback compensation. In
this case, gradually increase the speed loop gain in Pn100 while reducing the
speed loop integral time constant Pn101, and finally set the speed loop gain in
Pn100 to the same value as that of the position loop gain in Pn102.
The relationship between the speed loop gain and integral time constant is as fol-
lows:
Take the value obtained from the following formula as a reference value for setting
the speed loop integral time constant in Pn101.
Speed loop integral time constant =
Unit of speed loop gain: [Hz]
Check the unit when setting the speed loop integral time constant in Pn101. Pn101
is set in 0.01ms increments.
The units for speed loop gain (Hz) and position loop gain (s
these gains to the same numerical value.
3. Repeat step 2 to increase the speed loop gain while watching the position error of
the analog monitor to observe the setting time and the torque reference of the
analog monitor to observe any occurrence of vibration. If there is any oscillating
noise or noticeable vibration, gradually increase the time constant of the torque
reference filter in Pn401.
4. Gradually increase only the position loop gain. When it has been increased
about as far as possible, then decrease the speed feedback compensation in
Pn111 from 100% to 90%. Then repeat steps 2 and 3.
5. Decrease the speed feedback compensation to a value lower than 90%. Then
repeat steps 2 through 4 to shorten the setting time. If the speed feedback com-
4
2p x Speed loop gain
6-15
Chapter 6: Servo Adjustment
(s)
-1
) differ, nevetheless, set
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