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9. ADJUSTMENT
9.4.3 Load inertia moment is 20 or more times
(1) Machine condition
The machine inertia moment is 20 times or more and the servo motor oscillates at low frequency (5Hz
or more). At this time, servo motor shaft vibration can be confirmed visually.
This adjustment method is valid for the following machines:
(a) Machine in which a timing belt is driven without reduction gear
(b) Machine in which a disc is rotated without reduction gear
(c) Machine of which ballscrew lead is long
(2) Adjustment procedure
1) Choose the response level setting of slow response.
Set "0101" in parameter No.3.
2) Set the load inertia moment ratio (parameter No.34).
If an exact machine inertia moment ratio is unknown, enter an approximate value.
When the value is set in this parameter, the following parameters are set automatically. When
there is no machine resonance, the value of each parameter is set to the ideal gain for the load
inertia moment ratio (parameter No.34) value.
Parameter No.
3) Set "not executed" (parameter No.3:
4) Alternate a start and a stop several times and check whether the machine does not vibrate.
5) If vibration still persists, repeat steps 1) and 4).
6) If vibration still persists, make (a) Adjustment 1 and (b) Adjustment 2 in paragraph (2) of
Section 9.4.2.
7) If you want to further raise the response level, set parameter No. 3 to "auto tuning executed"
(third digit) with operation stopped, and increase the response level setting (first digit). After
that, set that parameter to "auto tuning not executed" (third digit). For example, set parameter
No. 3 to "0102" and then change it to "0202".
8) Reducing the speed loop's integral time constant (parameter No.38) may improve the
performance. However, making it too small may generate vibration.
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Servo motor
Symbol
7
PG1
35
PG2
36
VG1
37
VG2
38
VIC
search engine
Pulley
Servo motor
Disc
Servo motor
Ballscrew
Name
Position loop gain 1
Position loop gain 2
Speed loop gain 1
Speed loop gain 2
Speed integral compensation
2
) by the auto tuning selection.
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