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2. OPERATION
2-4 Adjustments
2-4-1 Auto tuning
In general machines, gains are automatically adjusted by auto tuning. As the corresponding pa-
rameter is factory-set to make auto tuning valid, merely running the servo motor will automatically
set the optimum gains for the machine without special operation or setting.
However, if you are not satisfied with machine motions during operation, change and adjust the
response level setting (parameter No. 2) of auto tuning in the following procedure.
Actual Machine Motion
Settling time is long (Note)
Overshoot occurs at a stop.
Gear noise is generated from the machine. Smaller gear noise
Note: Settling time indicates a period of time from when the command pulse value is
zeroed to when the servo motor comes to a stop.
2-4-2 Manual gain adjustment
In most machines, gains can be adjusted automatically by auto tuning.
In the following cases, however, the gains should be adjusted manually.
Manual Gain Adjustment Is Required When
The machine vibrates at a low-range
resonance frequency.
1)
The servo motor vibrates on a machine
whose ratio of load inertia moment to
servo motor inertia moment is 20 or more
times.
2)
The settling time provided by auto tuning
3)
should be further decreased.
The position control gain of each axis
4)
should
be
set
to
interpolation operation with two or more
axes.
Ideal Machine Motion
Shorter settling time
Less overshoot
The servo motor shaft vibrates at a high
frequency (10Hz or more)
a. When the machine generates large noise
and vibrates, the motion of
motor shaft is invisible.
b.
When
increased
increases.
The servo motor shaft vibrates at a low
frequency (5Hz or less).
a. When vibration occurs, the lateral vibration
of the servo motor shaft is visible.
b. The ratio of load inertia moment to servo
motor inertia moment is extremely large.
the
same
for
Parameter No. 2 Setting Method
Increase the set value of the response level.
Decrease the set value of the response level.
Select "large friction" in machine selection.
Decrease the set value of the response level.
Phenomenon
the servo
the
response
level
setting
by
auto
tuning,
vibration
2– 50
Adjustment Procedure
Adjustment 1
is
Adjustment 2
Adjustment 3
Adjustment 4
Adjustment 5
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