Advertisement
Sigma II User's Manual
n
Machines with Low Rigidity
These machines are driven by timing belts, chains, or machines with harmonic gear
reducers.
Examples: Conveyor, articulated robot
Position Loop Gain (Pn102)
-1
10 to 20s
•
When the inertia ratio is larger than 10, start gain adjustments with the position and speed
loop gains slightly below the ranges given above and the speed loop integral constant
slightly over the range.
•
When the inertia ratio is much larger, start the gain adjustments with the position and
speed loop gains set to the smallest values and the speed loop integral constant to the
large value in the ranges given above.
In speed control operation, the position loop gain is set through the host controller.
If that is not possible, adjust the position loop gain with the speed reference input
gain in Pn300 in the servo amplifier. In speed control operation, the position loop
gain set in Pn102 is enabled in zero-clamp mode only. Position loop gain K
obtainable from the following formula.
Speed Loop Gain (Pn100)
10 to 20Hz
IMPORTANT
K
-1
(s
):
Where: K
Position Loop Gain
p
(pps): Constant Speed Reference
V
s
ε (Pulse): Constant error: The number of accumulated pulses of
the error counter at the above constant speed.
Speed Loop Integral Time Constant
V
≥
s
ε
p
6-34
Chapter 6: Servo Adjustment
(Pn101)
50 to 120ms
is
p
Advertisement
