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Sigma II User's Manual
6.3.2
Mechanical Rigidity Settings for Online Auto-Tuning
For the mechanical rigidity settings at the time of online auto-tuning, select the target
values for speed loop gain and position loop gain of the servo system. Any of the
following ten levels of rigidity can be selected.
Position Loop
Fn001
Rigidity
Setting
1
2
3
4
5
6
7
8
9
10
Note: The Rigidity value is default set to 4.
As the rigidity value is increased, the servo system loop gain increases and the time
required for positioning is shortened. If the rigidity is excessively high, however, it
may cause the machinery to vibrate. In that case, decrease the set value.
The rigidity value setting automatically changes the parameters in the above table.
Note: If parameters Pn102, Pn100, Pn101, and Pn401 are set manually with the online auto-tuning function
enabled, tuning is performed with the manually set values as target values.
n
Changing the Rigidity Setting
Use parameter Fn001 in the auxiliary function mode to change the rigidity setting.
The procedure for changing the setting is as follows:
Using the Hand-held Digital Operator
1. Press the DSPL/SET key and select Fn001 in the auxiliary function mode.
2. Press the DATA/ENTER key. The following data will be displayed.
Speed Loop
Gain
Gain
-1
[Hz]
[s
]
Pn102
Pn100
15
15
20
20
30
30
40
40
60
60
85
85
120
120
160
160
200
200
250
250
Speed Loop
Integral Time
Constant
[0.01ms]
Pn101
6000
4500
3000
2000
1500
1000
800
600
500
400
6-20
Chapter 6: Servo Adjustment
Torque
Reference Filter
Time Constant
[0.01ms]
Pn401
250
200
130
100
70
50
30
20
15
10
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