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5.2. Automatic Tuning
5.2.5. Minor Servo Adjustment (Tuning Level 2)
5.2.5. Minor Servo Adjustment (Tuning Level 2)
！ Danger : Take safety measures for a full turn of the Motor.
l Perform the minor adjustment of servo gain when the automatic tuning by the AT command
(Tuning Level 1) is not successful.
l Use the SG parameter for the minor adjustment of servo gain.
l Adjust the SG parameter operating the Motor by the demonstration program (SP/AJ).
(Follow the procedures 1) to 7) in "5.2.4. Trial Running (Tuning Level 1)" to operate the Motor.)
l Input the commands for adjustment through the master controller in case of the velocity control
mode.
1)
Start the adjusting program of SG parameter.
The screen displays the message as shown below, and you can change SG setting up and down
using the (+) key and the (-) key.
(Actually the SG parameter differs with the load inertia and the rotation angel.)
l Explanation of the message (screen)
！ Caution : Do not press the SP key or the BS key, otherwise the changing
à Higher SG setting will result in better response for positioning commands. However,
the Motor tends to vibrate when the SG is set too high.
S
G
/
(1)
Key function
+
-
SHIFT
and
+
-
ENT
(2)
This part indicates the current setting of SG.
(3)
This part indicates the changing resolution of SG data when the (+) or (-) key is
pressed.
(4)
Response index number: An index number denoting a result of positioning under
current servo gain setting. Smaller number denotes better response to position
commands.
(5)
Positioning index number: An index number denoting a result of positioning under
the current servo gain (SG) setting. Smaller number requires less time to complete a
positioning.
resolution of SG data (2) for one press of the (+) key or the (-) key will
be altered.
A
J
ENT
: Pressing the key one time increases 1 resolution of "SG."
: Pressing the keys one time decreases 1 resolution of "SG."
: Press the key to store the "SG" setting.
— 5-8 —
B
B
3
3
t
t
y
y
p
p
e
e
2
3
t
y
p
e
2
3
t
y
p
e
(1)
(5)
[+],[-],[ENT]
444( 333)
STEP1
_SG10
(2)
(3)
B
B
5
5
t
t
y
y
p
p
e
e
2
5
t
y
p
e
2
5
t
y
p
e
(4)
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Troubleshooting
