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Sigma II User's Manual
6.4.4
Gain Setting Reference Values
This section describes servo gain reference values.
Refer to the following for optimal gain adjustments according to the rigidity of the
mechanical system. Refer to these values and use the previously mentioned methods
to make gain adjustments. These values are for reference only and do not mean that
the mechanical system has good response characteristics or is free from oscillation in
the specified ranges.
Observe the response by monitoring the response waveform and make the optimum
gain adjustments. If the rigidity of the machinery is high, gain increments exceeding
the described ranges are possible.
n
Machines with High Rigidity
These machines are directly connected to ball screws.
Examples: Chip mounting machine, bonding machine, high-precision machine tool
Position Loop Gain (Pn102)
-1
50 to 70s
n
Machines with Medium Rigidity
These machines are driven by ball screws through speed reducers or long-length
machines directly driven by screws.
Examples: General machine tool, transverse robot, conveyor
Position Loop Gain (Pn102)
-1
30 to 50s
Speed Loop Gain (Pn100)
50 to 70Hz
Speed Loop Gain
(Pn100)
30 to 50Hz
6-33
Chapter 6: Servo Adjustment
Speed Loop Integral Time Constant
(Pn101)
5 to 20ms
Speed Loop Integral Time Constant
(Pn101)
10 to 40ms
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