155[Adjustment]AdjustmentSuppress the vibration by lowering the gain.Stop (Servo-Lock)Low gain (1st gain) Low gain (1st gain)High gain (2nd gain)1ms 2msStop (Servo-Lock)Run TimeCommand speedActionStatusGainTitle of parameter10 11 12 13 14 15 16 18 19 1A 1B 1C 30 31 32 33 34 3563 35 16 0 65 300 50 0 63 35 16 0 65 1 7 30 0 0 0 27 841st position loop gain 1st velocity loop gain 1st velocity loop integration time constant 1st speed detection filter 1st torque filter time constant Velocity feed forward Feed forward filter time constant 2nd position loop gain 2nd velocity loop gain 2nd velocity loop integration time constant 2nd speed detection filter 2nd torque filter time constant 2nd gain action set up 1st control switching mode 1st control switching delay time 1st control switching level 1st control switching hysteresis Position loop gain switching time20 Inertia rationExecute manual gain-tuning without gainswitching• Enter the known value from load calculation • Measure the inertia ratio by executing nor mal auto-gain tuning • Default is 250Set up the same value as SV.Pr10-14 (1st gain) to SV.Pr18-1C (2nd gain)Set up SV.Pr30-35 (Gain switching condition)Adjust SV.Pr11and 14 atstopping (1st gain)Servo Parameter No. (SV.Pr**)Gain Switching FunctionAt manual gain tuning, you can set 2nd gainmanually in addition to 1st gain and you canswitch the gain depending on the various re-quirements of the action such cases as,• you want to increase the response by increas-ing the gain in motion• you want to increase the servo-lock stiffnessby increasing the gain at stopping• switch to the optimum gain according to theaction mode• lower the gain to suppress the vibration at stopping.Following is the example when you want to reduce the noise at motor in stall (Servo-Lock), by setting up tolower gain after the motor stops.• Make adjustment referring to the auto-gain tuning table (P.149) as well.
