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6. GENERAL GAIN ADJUSTMENT
(2) Adjustment sequence and mode usage
Usage
Used when you want to
match the position gain 1
(PG1) between 2 or more
axes. Normally not used for
other purposes.
Allows adjustment by
merely changing the
response level setting.
First use this mode to make
adjustment.
Used when the conditions of
auto tuning mode 1 are not
met and the load inertia
moment ratio could not be
estimated properly, for
example.
This mode permits
adjustment easily with three
gains if you were not
satisfied with auto tuning
results.
END
Interpolation
made for 2 or more
axes?
START
Operation
Auto tuning mode 2
OK?
Manual mode 1
OK?
Manual mode 2
OK?
OK?
No
No
Yes
No
Yes
No
Yes
No
Yes
Auto tuning mode 1
Operation
Interpolation mode
Operation
Operation
Yes
You can adjust all gains
manually when you want to
do fast settling or the like.
6.1.2 Adjustment using MR Configurator (servo configuration software)
This section gives the functions and adjustment that may be performed by using the servo amplifier with
the MR Configurator (servo configuration software) which operates on a personal computer.
Function Description Adjustment
Machine analyzer With the machine and servo motor
coupled, the characteristic of the
mechanical system can be measured by
giving a random vibration command from
the personal computer to the servo and
measuring the machine response.
You can grasp the machine resonance frequency and
determine the notch frequency of the machine
resonance suppression filter.
You can automatically set the optimum gains in
response to the machine characteristic. This simple
adjustment is suitable for a machine which has large
machine resonance and does not require much settling
time.
Gain search Executing gain search under to-and-fro
positioning command measures settling
characteristic while simultaneously
changing gains, and automatically
searches for gains which make settling
time shortest.
You can automatically set gains which make positioning
settling time shortest.
Machine simulation Response at positioning settling of a
machine can be simulated from machine
analyzer results on personal computer.
You can optimize gain adjustment and command
pattern on personal computer.