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8.3. Manual Adjustment
！
Danger : Confirm that the work (or Motor) does not hit any obstacle when the
Motor makes a motion. Always stay in safe position.
à
Manual adjustment is needed when the automatic tuning did not work.
8.3.1. Precautions
(1)
Initialize servo parameters. Follow procedures in “8.2.2. Initialize Servo Parameters”.
(2)
Execute the demonstration program referring to “8.2.4. Trial Running (Adjustment Level 1)”.
At the beginning, Motor operation is unstable due to insufficient adjustment.
8.3.2. Adjustment of the Velocity Gain (VG)
(1)
Start “VG” adjusting program.
[+]
[+]
[+]
[+],[-],[ENT]
,[-],[ENT]
,[-],[ENT]
,[-],[ENT]
444
444
444
444( 333)
( 333)
( 333)
( 333)
STEP1
STEP1
STEP1
STEP1
_VG1
_VG1
_VG1
_VG1
G
/
V
J
ENT
A
(i)
(v)
(ii
(iii)
(iv)
The display shows the message as
shown on the left.
l
Explanation of the messages
(i)
Key function
and
-
+
SHIFT
: Pressing key one time increases 1 resolution of “VG”.
-
+
: Pressing key one time decreases 1 resolution of “VG”
ENT
: Store “VG” value in the memory and completes the
adjustment.
(ii)
Indicates present “VG” value.
(iii)
Indicates “VG” value changed by pressing plus (+) or minus (-) key.
(iv)
Response index number : The lower number denotes better response.
(v)
Positioning index number : The lower number denotes quicker positioning.
Note: Changing “VG” step (iii).
If you want to change the resolution of step, press space key or back space key.
Space key
: Changes the step to 1/10 of present resolution.
(Pressing twice makes 1/100.)
Back space key : Changes the step to 10 times of present resolution.
(Pressing twice makes 100 times.)
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