_414214_AVK3 服务手册.pdf - 第71页

5.1 AC Servo Gain Adjustment SERVICE MANUAL A VK3 5.1−12 D77SEC−84−040−A0 W A Axis Stop Gain posi prorl speed prorl speed integra change time POST1 16 20 0 0 ORIGIN 10 12 0 0 TCH(L) 10 10 0 0 TCH(H) 10 10 0 0 V Axis Move…

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5.1 AC Servo Gain Adjustment
SERVICE MANUAL
AVK3
5.1−11
D77SEC−84−040−A0
θA Axis Move Gain
distance
high
speed
accelerate
posi prorl
speed
prorl
speed
integra
feed forward
POST1 0.00 ∼ 6668 680 10 15 5 5
ORIGIN − 50 100 10 10 3 1
TCH(L) − 15 10 10 10 3 1
TCH(H) − 100 40 10 10 3 1
θA Axis Stop Gain
posi prorl speed prorl speed integra change time
POST1 12 15 5 3
ORIGIN 10 10 3 1
TCH(L) 10 10 3 1
TCH(H) 10 10 3 1
WH Axis Move Gain
distance
high
speed
accelerate
posi prorl
speed
prorl
speed
integra
feed forward
POST1 0.00 ∼ 7145 5104 15 27 10 0
POST2 3.00 ∼ 7145 5104 20 27 10 0
ORIGIN − 1250 1250 15 20 0 0
TCH(L) − 38 25 15 27 0 0
TCH(H) − 250 100 15 27 0 0
WH Axis Stop Gain
posi prorl speed prorl speed integra change time
POST1 27 15 10 5
POST2 27 15 10 8
ORIGIN 27 10 5 5
TCH(L) 27 29 15 5
TCH(H) 27 29 15 5
WA Axis Move Gain
distance
high
speed
accelerate
posi prorl
speed
prorl
speed
integra
feed forward
POST1 0.00 ∼ 7145 3000 14 8 1 5
ORIGIN − 1250 1250 7 5 0 1
TCH(L) − 38 25 7 10 0 1
TCH(H) − 250 100 7 10 0 1
5.1 AC Servo Gain Adjustment
SERVICE MANUAL
AVK3
5.1−12
D77SEC−84−040−A0
WA Axis Stop Gain
posi prorl speed prorl speed integra change time
POST1 16 20 0 0
ORIGIN 10 12 0 0
TCH(L) 10 10 0 0
TCH(H) 10 10 0 0
V Axis Move Gain
distance
high
speed
accelerate
posi prorl
speed
prorl
speed
integra
feed forward
POST1 0.00 ∼ 6668 1500 10 2 10 0
ORIGIN − 500 250 5 3 8 5
TCH(L) − 38 25 2 5 8 5
TCH(H) − 250 100 1 5 8 5
V Axis Stop Gain
posi prorl speed prorl speed integra change time
POST1 10 1 25 0
ORIGIN 3 2 2 8
TCH(L) 5 2 2 8
TCH(H) 5 2 2 8
5.1 AC Servo Gain Adjustment
SERVICE MANUAL
AVK3
5.1−13
D77SEC−84−040−A0
1. Change the movement gain setting values according to the following table.
=NOTE=
The values of “Feed forward” should be the standard values.
Motor
condition
Ideal Noisy
Not smooth
movement
Bad positioning
precision
Wave
Adjust-
ment pro-
cedure
1. Reduce the
speed feedback.
2. Reduce the
integral of speed.
3. Reduce the posi-
tional feedback.
1. Reduce the posi-
tional feedback.
2. Reduce the
speed feedback.
3. Reduce the
integral of speed.
1. Reduce the posi-
tional feedback.
2. Reduce the
speed feedback.
3. Reduce the
integral of speed.
Movement gain
adjustable area
Stopping gain
adjustable area
AC servo driver wave
(Oscilloscope)
2. Execute the program and compare the motor wave and the ideal wave.
3. If the wave is bad shape, adjust the gain again.
=NOTE=
AC servo gain should be adjusted only by changing the movement gain setting values.