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5.3. Manual Tuning
5.3.1. Precautions for Manual Tuning
5.3. Manual Tuning
！ Caution : Take a safety measure for a full turn of the Motor.
l Perform the manual tuning when the automatic tunings are not successful.
5.3.1. Precautions for Manual Tuning
1) Initialize the parameters following the procedure described in "5.2.2. Initialization of Servo
Parameters."
2) Operate the Motor with the demonstration program referring to "5.2.4. Trial Running (Tuning
Level 1)." The Motor demonstrates unnatural motion at the beginning, which is not abnormal,
because it is poorly tuned.
3) Use the master controller to operate the Motor when the System is set to the velocity control
mode.
5.3.2. Adjustment of Velocity Loop Proportional Gain (VG)
1)
Start the adjusting program for the VG parameter.
The screen displays the message as shown below, and you can change VG setting up and down
using the (+) key and the (-) key.
(Actually the VG parameter differs with a load inertia and rotation angel.)
l Explanation of the message (screen)
！ Caution: Input of the SP key will alter the changing resolution of the VG for one
V
G
/
(1)
Key function
+
-
SHIFT
and
+
-
ENT
(2)
This part indicates current setting of the VG parameter.
(3)
This part indicates the changing resolution of VG data when the (+) or the (-) key is
pressed.
(4)
Response index number: Smaller number denotes better response to the position
commands.
(5) Positioning index number: Smaller number requires less time to complete a
positioning.
press of the (+) or the (-) key to 1/10 of the current setting.
Input of the BS key will alter the changing resolution of VG for one
press of the (+) or the (-) key to 10 times of the current setting.
A
J
ENT
: Pressing the key one time increases 1 resolution of the VG.
: Pressing the key one time decreases 1 resolution of the VG.
: Press the key to store the VG setting.
— 5-10 —
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
_VG1
(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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Table of Contents
Troubleshooting
