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Sigma II User's Manual
6.2 High-speed Positioning........................................................................................ 6-7
6.2.1
Setting Servo Gain ...................................................................................... 6-7
6.2.2
Using Feed-Forward Control ...................................................................... 6-9
6.2.3
Using Proportional Control......................................................................... 6-9
6.2.4
Setting Speed Bias .................................................................................... 6-10
6.2.5
Using Mode Switch .................................................................................. 6-11
6.2.6
Speed Feedback Compensation ................................................................ 6-14
6.3 Auto-Tuning....................................................................................................... 6-17
6.3.1
Online Auto-Tuning.................................................................................. 6-17
6.3.2
Mechanical Rigidity Settings for Online Auto-Tuning............................. 6-20
6.3.3
Saving Results of Online Auto-Tuning..................................................... 6-22
6.3.4
Parameters Related to Online Auto-Tuning.............................................. 6-24
6.4 Servo Gain Adjustments .................................................................................... 6-26
6.4.1
Servo Gain Parameters.............................................................................. 6-26
6.4.2
Basic Rules of Gain Adjustment............................................................... 6-26
6.4.3
Making Manual Adjustments.................................................................... 6-28
6.4.4
Gain Setting Reference Values ................................................................. 6-33
6.5 Analog Monitor.................................................................................................. 6-35
7.
Using the Digital Operator................................................................................... 7-1
7.1 Basic Operation.................................................................................................... 7-2
7.1.1
Connecting the Digital Operator................................................................. 7-2
7.1.2
Functions..................................................................................................... 7-3
7.1.3
Resetting Servo Alarms .............................................................................. 7-4
7.1.4
Basic Mode Selection ................................................................................. 7-5
7.1.5
Status Display Mode ................................................................................... 7-5
7.1.6
Operation in Parameter Setting Mode ........................................................ 7-8
7.1.7
Operation in Monitor Mode ...................................................................... 7-16
7.2 Applied Operation.............................................................................................. 7-21
7.2.1
Operation in Alarm Traceback Mode ....................................................... 7-22
7.2.2
Operation Using the Digital Operator....................................................... 7-23
7.2.3
Automatic Adjustment of the Speed and Torque Reference Offset.......... 7-26
v
Chapter 2: Installation
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