Filter
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243
[Adjustment]
Adjustment
Suppress the vibration by lowering the gain.
Stop
(Servo-Lock)
Low gain
(1st gain)
Low gain
(1st gain)
High gain
(2nd gain)
1ms 2ms
Stop
(Servo-Lock)
Run Time
Command speed
Action
Status
Gain
Title of parameter
10
11
12
13
14
15
16
18
19
1A
1B
1C
30
31
32
33
34
35
63
35
16
0
65
300
50
0
63
35
16
0
65
1
7
30
0
0
0
27
84
1st gain of position loop
1st gain of velocity loop
1st time constant of velocity integration
1st filter of velocity detection
1st time constant of torque filter
Velocity feed forward
Filter of velocity feed forward
2nd gain of position loop
2nd gain of velocity loop
2nd time constant of velocity integration
2nd filter of velocity detection
2nd time constant of torque filter time
Action setup of 2nd gain
1st mode of control switching
1st delay time of control switching
1st level of control switching
1st hysteresis of control switching
Switching time of position gain
20
Inertia ration
Execute manual
gain-tuning
without gain
switching
•
Enter the known value
from load calculation
• Measure the inertia
ratio by executing nor
mal auto-gain tuning
• Default is 250
Set up the same
value as Pr10-14
(1st gain) to
Pr18-1C (2nd gain)
Set up Pr30-35
(Gain switching
condition)
Adjust P411 and
14 at stopping
(1st gain)
Parameter
No.
(Pr )
Caution
(1) Enter the command pulses based on the external scale reference.
(2) The external scales to used for full-closed control are as follows.
• AT500 series by Mitutoyo (Resolution 0.05[µm], max. speed 2[m/s])
• ST771 by Mitutoyo (Resolution 0.5[µm], max. speed 2[m/s])
(3) To prevent the runaway and damage of the machine due to the setup of the external scale, setup the
hybrid deviation excess (Pr7B) to the appropriate value, in the unit of external scale resolution.
(4) We recommend the external scale as 1/20
<
=
external scale ratio
<
=
20.
If you setup the external scale ratio to smaller value than 50/position loop gain (Pr10 and 18), you may
not be able to control by one pulse unit. If you set up too large external scale ratio, you may expect
larger noise in movement.
Gain Switching Function
At manual gain tuning, you can set 2nd gain manu-
ally in addition to 1st gain and you can switch the
gain depending on the various requirements of the
action such cases as,
• you want to increase the response by increasing
the gain in motion
• you want to increase the servo-lock stiffness by in-
creasing the gain at stopping
• switch to the optimum gain according to the action mode
• lower the gain to suppress the vibration at stopping.
<Example>
Following is the example when you want to reduce the noise at motor in stall (Servo-Lock), by setting up to
lower gain after the motor stops.
• Make adjustment referring to the auto-gain tuning table (P.237) as well.