position / speed mode - Harmonic Drive LLC

Chapter 5 Operations
5-1-3Tuning servo parameters
After setting the parameters of the [parameter mode], couple the actuator with the driven machine; and
you can start tuning the servo parameters.
Usually it is unnecessary to tune the parameters, because these servo parameters have been set to the
proper values for the actuator as standard defaults. Only if the actuator is hunting, overshooting, or
undershooting should you then carefully tune the parameters.
The abstracts of the parameters in [tune mode] are described in the table below:
Name Description Parameters
0: Speed loop gain Proportional speed loop gain to improve
response to commands
High: better response; too high: hunting
Low: no hunting; too low: overshoot
1: S-loop integral
compensation
Lowering the influence of load torque
fluctuation
High: No hunting; too high: overshoot
Low: better response; too low: hunting
2: Position loop gain Proportional position loop gain to improve
response to commands
High: better response; too high: hunting
Low: no hunting; too low: overshoot
3: Feed forward Improving response at acceleration High: better response; too high: hunting
Low: no hunting
4: In-position range Allowable error range for positioning Integer between 1 and 9999
5:Attained speed Speed to turn on HI-SPD(CN2-33 pin) Integer between 1 and 9999
6: Internal speed
command
Internal speed command
1 to speed limit ([parameter mode][A:
speed limit])
7: Acceleration Acceleration time from [o] to speed limit 0.0 to 10.0seconds
constant ([parameter mode][A: speed limit])
8: Deceleration Deceleration time from speed limit 0.0 to 10.0seconds
constant ([parameter mode][A: speed limit]) to [0]
9: Speed command
offset
compensating the slight rotation by
command voltage offset
9999
(26) Shut power OFF for safety.
(27) Couple the actuator with the drive machine.
(28) Turn power ON.
(29) To enter [tune mode] from [monitor mode], press
[ADJ] key at least three second.
Enters [tune mode] when there is no indication on
4th to 6th digit.
(30) Press [UP] or [DOWN] key to change the functional
items of the [tune mode].
Note: If the decimal point of the sixth digit is ON the
servo is active (ON) and the actuator will respond to
command signals. If the decimal point is OFF, the
servo is inactive (OFF).
U P D O W N A D J S E T
Tune mode
Press 3 seconds.
U P
D O W N
A D J
S E T
Tune mode
U P
D O W N
A D J
S E T
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