Chapter 4
4-13
Operation
■
Setting the
Gain Adjustment Rotary Switch during Online Autotuning
• Setting the
gain adjustment rotary switch during online autotuning sets the servo system’s target
speed loop gain and position loop gain.
• Select a switch setting from the following 10 levels (switches A to F are the same setting) to suit the
mechanical system.
Note The servo system loop gain will increase in response to a higher switch setting value, shorten-
ing positioning time. If the setting is too large, however, the machinery may vibrate. Reduce the
setting if vibration is a problem.
4-5-2 Manual Tuning
■
Manually Tuning
• If online autotuning operations are not effective, tune the system using only the gain adjustment
rotary switch.
• When the load inertia fluctuates below 200 ms or less
• When the rotation speed does not exceed 500 r/min, or when the output torque does not ex-
ceed 50% of the rated torque
• When an external force is always imposed, such as with a vertical axis
• When the load rigidity is low, or when the adhesive friction is high
Response
Switch
setting
Position
loop gain
(s
–1
)
Speed
loop gain
(Hz)
Speed loop integral
time constant
(
×
0.01 ms)
Torque command
filter time constant
(
×
0.01 ms)
Typical applications
(mechanical system)
Low
1
15
15
4,000
250
Articulated robots, harmonic drives,
chain drives, belt drives, rack and
pinion drives, etc.
2
20
20
3,500
200
3
30
30
3,000
150
Medium
4
40
40
2,000
100
XY tables, orthogonal robots, gen-
eral-purpose mechanical systems,
etc.
High
5
60
60
1,500
70
Ball screws (direct couplings), feed-
ers, etc.
6
85
85
1,000
50
7
120
120
800
30
8
160
160
600
20
9
200
200
500
15
A
250
250
400
10
B
250
250
400
10
C
250
250
400
10
D
250
250
400
10
E
250
250
400
10
F
250
250
400
10
Summary of Contents for SMARTSTEP A Series
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