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5.3. Manual Tuning
5.3.3. Adjustment of Velocity Loop Integration Frequency (VI)
5.3.3. Adjustment of Velocity Loop Integration Frequency (VI)
l Perform the adjustment of velocity loop integration frequency (VI) after the adjustment of the
velocity loop proportional gain (VG).
1）Start the program for adjusting the parameter VI.
The screen displays the message as shown below and you can change the VI setting up and down
using the (+) and the (-) keys.
(Actually the VI parameter differs with a load inertia and rotation angel.)
l Explanation of the message (screen)
！ Caution : Pressing the SP key will alter the changing resolution of VG for one
2)
Press the (+) key several times observing motion of the Motor.
Observe how the motion of Motor gets crisper as the response index decreases.
V
I
/
(1) Key function
+
-
SHIFT
and
+
-
ENT
(2) This part indicates the current setting of VI.
(3) This part indicates the changing resolution of VI data when the (+) or the (-) key is
pressed. (VI changing resolution)
(4) Response index number: Small number denotes better response to the command.
(5) Positioning index number: Smaller number requires less time to complete a
press of the (+) or the (-) key to 1/10 of the current setting.
Pressing 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.
Pressing
,
SHIFT
A
J
ENT
: Pressing the key one time increases 1 resolution of the VI.
: Pressing the key one time decreases 1 resolution of the VI.
: Press the key to store the VI setting.
positioning.
+
+
-
-
• • •
— 5-12 —
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)
[+],[-],[ENT]
(5)
444( 333)
STEP1
_VI1
(2)
(3)
[+],[-],[ENT]
333( 222)
STEP1
_VI3
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
