Gain adjustment
Question
How should I adjust the gain?
Answer
If you can drive the motor, try auto tuning.
For details, see “5.2 Auto tuning” in the user’s manual.
During auto-tuning, if the stroke that can be moved is shrt, a tuning error (AL08C) may be detected.
In this case, please refer to “5.4 Manual tuning of gain parameter” in the user’s manual and tune manually.
This is easy if you know roughly how many times the load inertia is the rotor inertia ratio.
It is easy to do this by selecting “Tuning -> Gain Tuning” from the KSD-Soft menu, entering the speed response frequency in the “Bandwidth” field, calculating the gain, and writing.
Initially, set the bandwidth as low as 10 to 20 and test drive, then gradually increase the bandwidth and test drive…
The common practice is to repeat this, and when it oscillates, set it smaller, or decide on a “certain level” of servo stiffness.
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