Filter
Top Products
6 - 7
6. GENERAL GAIN ADJUSTMENT
6.3 Manual mode 1 (simple manual adjustment)
If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with
three DRU parameters.
6.3.1 Operation of manual mode 1
In this mode, setting the three gains of position control gain 1 (PG1), speed control gain 2 (VG2) and
speed integral compensation (VIC) automatically sets the other gains to the optimum values according to
these gains.
PG1
VG2
VIC
PG2
VG1
GD2
Automatic setting
User setting
Therefore, you can adjust the model adaptive control system in the same image as the general PI control
system (position gain, speed gain, speed integral time constant). Here, the position gain corresponds to
PG1, the speed gain to VG2 and the speed integral time constant to VIC. When making gain adjustment
in this mode, set the load inertia moment ratio (DRU parameter No. 34) correctly.
6.3.2 Adjustment by manual mode 1
POINT
If machine resonance occurs, adaptive vibration suppression control (DRU
parameter No. 60) or machine resonance suppression filter (DRU
parameter No. 58
59) may be used to suppress machine resonance. (Refer
to Section 7.1.)
(1) DRU parameters
The following parameters are used for gain adjustment:
DRU parameter No. Abbreviation Name
6 PG1 Position control gain 1
34 GD2 Ratio of load inertia moment to servo motor inertia moment
37 VG2 Speed control gain 2
38 VIC Speed integral compensation
(2) Adjustment procedure
Step Operation Description
1
Set an estimated value to the ratio of load inertia moment to servo motor
inertia moment (DRU parameter No. 34).
2
Set a slightly smaller value to the position control gain 1 (DRU parameter No.
6).
3
Increase the speed control gain 2 (DRU parameter No. 37) within the
vibration- and unusual noise-free range, and return slightly if vibration takes
place.
Increase the speed control gain.
4
Decrease the speed integral compensation (DRU parameter No. 38) within the
vibration-free range, and return slightly if vibration takes place.
Decrease the time constant of the
speed integral compensation.
5 Increase the position control gain 1 (DRU parameter No. 6). Increase the position control gain.
6
If the gains cannot be increased due to mechanical system resonance or the
like and the desired response cannot be achieved, response may be increased
by suppressing resonance with adaptive vibration suppression control or
machine resonance suppression filter and then executing steps 3 to 5.
Suppression of machine resonance.
Refer to Section 7.1.
7
While checking the settling characteristic and rotational status, fine-adjust
each gain.
Fine adjustment