Ac Servo Gain Adjustment 1

AVK3
SERVICE MANUAL
5.1 AC Servo Gain Adjustment

Sentence No: D77SEC84040A0
=Preparation=
1. Oscilloscope
AC servo gain adjustment

=NOTE=
Must be done for the following :
1. Driver error or Motor movement impossible is displayed.
2. Motor is noisy.
3. Motor or driver is replaced.
4. Motor movement is abnormal.
=NOTE=
Only SYSTEM MANAGER LEVEL of operating levels can perform this adjustment.
AC servo motor drivers location
H U WH WA X Y
axis axis axis axis axis axis
(P326M) (P326M)(P326M)(P326M) (P326M) (P326M)
ZR A
axis axis
(P326M) (P326M)
ZL
axis
(P326M)
H T V
axis axis axis
(P326M)(P326M)(P326M)
D77SEC84040A0 5.11
AVK3
SERVICE MANUAL
1. Supply the power to oscilloscope not from the machine AVK3 but from another which is un-
connected to AVK3.
2. Attach oscilloscope probe to PERM and GND of the motor driver monitor terminal.
PERM
GND
Oscilloscope
P326M (H axis, H axis, ZL axis and ZR axis)
PERM
GND
Oscilloscope
P326M(X axis, Y axis, WH axis, WA axis, U axis, A axis,

T axis and V axis)
5.12 D77SEC84040A0
AVK3
SERVICE MANUAL
3. Make the gain adjustment program.

Refer to following table.
Gain adjustment program settings :

Axis Travel distance
X, Y 2.5, 5.0, 7.5, 10.0, 12.5, 15.0, 100.0mm
ZL, ZR 1, 2, 5, 60 cassettes
T 90
U 5.0, 10.0, 26.0mm
H 0, 180, 270
A 0
WH 5.0, 10.0, 21.0mm (pitch change)
WA 5.0, 10.0, 21.0mm (pitch change)
Change from wire diameter 0.6, body diameter 0.6 (Jumper wire)
V
to wire diameter 0.8, body diameter 5.0.
H At = 180
=NOTE=
Refer to Operating Instructions to make the gain adjustment program.
4. Execute the program and check the AC servo driver wave by the oscilloscope and the servo
motor condition.
5. Select F8 F1 (MACHINE INITIAL SETTINGS) F3 (PRODUCTION CON-
DITIONS SETTING) F6 G A I N F6 from the service menu
screen of main control panel.
6. The menu screen appears on the monitor screen as follows,
MANUAL : 1 BLOCK << M/C INI. VAL. SET >> YYYY MM DD HH : MM
DRIVER GAIN SETTING

SELECT FUNCTION KEY.
F1. MOVEMENT DRIVER GAIN SETTING
F2. STOPPING DRIVER GAIN SETTING
F3.
F4.
F5.
F6.
F7.
F8. RETURN TO DISPLAY
< F1 > < F2 > < F3 > < F4 > < F5 > < F6 > < F7 > < F8 >
MOVEMENT STOPPING RETURN
GAIN GAIN TO DISP
Figure 5.11:Driver Gain Setting

7. Select F1 (MOVEMENT DRIVER GAIN SETTING).
D77SEC84040A0 5.13
AVK3
SERVICE MANUAL
8. Select the OPTICAL LOOP which include adjusting axis.
MOVEMENT DRIVER GAIN SETTING

F1. OPTICAL LOOP 1 SETTING (X, Y, ZL, ZR AXIS)
F2. OPTICAL LOOP 2 SETTING (T, U, H, H AXIS)
F3. OPTICAL LOOP 3 SETTING (A, WH, WA, V AXIS)
F4.
F5.
F6.
F7.
< F1 > < F2 > < F3 > < F4 > < F5 > < F6 > < F7 > < F8 >
OPTICAL OPTICAL OPTICAL RETURN
LOOP 1 LOOP 2 LOOP 3 TO DISP
Figure 5.12:Movement Driver Gain Setting

9. Select the adjusting axis.
OPTICAL LOOP 1 SETTING

F1. X AXIS
F2. Y AXIS
F3. ZL AXIS
F4. ZR AXIS
F5. X AXIS 2 (EXTRA)
F6. Y AXIS 2 (EXTRA)
F7. PRINT OPTICAL LOOP 1 SETTING
< F1 > < F2 > < F3 > < F4 > < F5 > < F6 > < F7 > < F8 >
X AXIS Y AXIS ZL AXIS ZR AXIS X AXIS 2 Y AXIS 2 PRINT RETURN
(EXTRA) (EXTRA) TO DISP
Figure 5.13:Optical Loop 1 Setting
5.14 D77SEC84040A0
AVK3
SERVICE MANUAL
10. Driver settings will be done on screen as follows
X Axis Move Gain
high speed speed

distance accelerate posi prorl feed forward
speed prorl integra
POST1 0 6667 270 13 7 0 5
POST2 2.51 6667 620 13 7 0 5
POST3 5.51 6667 850 13 7 0 5
POST4 7.41 6667 1000 13 7 0 5
POST5 8.61 6667 1100 13 7 0 5
POST6 9.71 6667 1200 13 7 0 5
POST7 10.51 6667 1400 13 7 0 5
POST8 12.01 6667 1550 13 7 0 5
POST9 13.51 6667 1600 13 7 0 5
POST10 14.21 6667 1700 13 7 0 5
ORIGIN 750 500 5 3 1 0
TCH(L) 38 25 8 3 2 0
TCH(H) 250 100 8 3 2 0
X Axis Stop Gain

posi prorl speed prorl speed integra change time
POST1 10 6 3 0
POST2 10 6 3 0
POST3 10 6 3 0
POST4 10 6 3 0
POST5 10 6 3 0
POST6 10 6 3 0
POST7 10 6 3 0
POST8 10 6 3 0
POST9 10 6 3 0
POST10 10 6 3 0
ORIGIN 6 3 1 0
TCH(L) 10 6 3 0
TCH(H) 10 6 3 0
D77SEC84040A0 5.15
AVK3
SERVICE MANUAL
X Axis 2 Move Gain
high speed speed speed

distance accelerate posi prorl
speed prorl integra forward
POST1 0 6667 1800 13 7 0 5

POST2 16.11 6667 1900 13 7 0 5
POST3 17.01 6667 2100 13 7 0 5
POST4 18.51 6667 2300 13 7 0 5
POST5 19.51 6667 2400 13 7 0 5
POST6 20.81 6667 2450 13 7 0 5
POST7 21.61 6667 2600 13 7 0 5
POST8 23.01 6667 2700 13 7 0 5
POST9 24.01 6667 2800 13 7 0 5
POST10 0 0 0 0 0 0 0
ORIGIN 0 0 0 0 0 0
TCH(L) 0 0 0 0 0 0
TCH(H) 0 0 0 0 0 0
X Axis 2 Stop Gain

POST1 10 6 3 0
POST2 10 6 3 0
POST3 10 6 3 0
POST4 10 6 3 0
POST5 10 6 3 0
POST6 10 6 3 0
POST7 10 6 3 0
POST8 10 6 3 0
POST9 10 6 3 0
POST10 10 6 3 0
ORIGIN 0 0 0 0
TCH(L) 0 0 0 0
TCH(H) 0 0 0 0
5.16 D77SEC84040A0
AVK3
SERVICE MANUAL
Y Axix Move Gain
high speed speed

speed prorl integra
POST1 0 6667 270 18 8 0 9
POST2 2.51 6667 430 18 8 0 9
POST3 3.71 6667 620 18 8 0 9
POST4 5.71 6667 830 18 8 0 9
POST5 6.91 6667 1470 18 8 0 9
POST6 11.61 6667 2050 18 8 0 9
POST7 17.01 6667 2250 18 8 0 9
POST8 19.01 6667 2600 18 8 0 9
POST9 22.01 6667 2850 18 8 0 9
POST10 25.01 6667 3030 18 8 0 9
ORIGIN 750 500 8 3 3 0
TCH(L) 38 25 10 3 3 1
TCH(H) 250 100 10 3 3 1
Y Axix Stop Gain

POST1 15 12 1 10
POST2 15 12 1 10
POST3 15 12 1 10
POST4 15 12 1 10
POST5 15 12 1 10
POST6 15 12 1 10
POST7 15 12 1 10
POST8 15 12 1 10
POST9 15 12 1 10
POST10 15 12 1 10
ORIGIN 8 5 1 0
TCH(L) 12 5 1 0
TCH(H) 12 5 1 0
D77SEC84040A0 5.17
AVK3
SERVICE MANUAL
ZL Axis Move Gain
high speed speed

speed prorl integra
POST1 0 1600 180 13 10 1 5
POST2 2 1600 130 13 10 1 5
POST3 3 1600 130 13 10 1 5
POST4 4 1600 160 13 10 1 5
POST5 5 1600 180 13 10 1 5
ORIGIN 100 100 1 1 1 1
TCH(L) 15 10 1 1 1 1
TCH(H) 100 40 1 1 1 1
ZL Axix Stop Gain

POST1 8 8 8 1
POST2 8 8 8 1
POST3 8 8 8 1
POST4 8 8 8 1
POST5 8 8 8 1
ORIGIN 10 10 8 1
TCH(L) 10 10 8 1
TCH(H) 10 10 8 1
ZR Axis Move Gain
high speed speed

speed prorl integra
POST1 0 1600 180 13 10 1 5
POST2 2 1600 130 13 10 1 5
POST3 3 1600 130 13 10 1 5
POST4 4 1600 160 13 10 1 5
POST5 5 1600 180 13 10 1 5
ORIGIN 100 100 1 1 1 1
TCH(L) 15 10 1 1 1 1
TCH(H) 100 40 1 1 1 1
5.18 D77SEC84040A0
AVK3
SERVICE MANUAL
ZR Axis Stop Gain

POST1 8 8 8 1
POST2 8 8 8 1
POST3 8 8 8 1
POST4 8 8 8 1
POST5 8 8 8 1
ORIGIN 10 10 8 1
TCH(L) 10 10 8 1
TCH(H) 10 10 8 1
T Axis Move Gain
high speed speed

speed prorl integra
POST1 0.00 6668 1800 15 16 0 5
ORIGIN 250 250 10 10 5 1
TCH(L) 38 25 10 10 5 1
TCH(H) 250 100 10 10 5 1
T Axis Stop Gain

POST1 10 13 15 0
ORIGIN 10 10 5 1
TCH(L) 10 10 5 1
TCH(H) 10 10 5 1
U Axis Move Gain
high speed speed

speed prorl integra
POST1 0.00 6250 5000 20 15 15 10
ORIGIN 125 250 10 10 1 1
TCH(L) 38 25 10 10 1 1
TCH(H) 200 100 10 10 1 1
U Axis Stop Gain

POST1 30 10 15 0
ORIGIN 20 20 1 1
TCH(L) 10 10 1 1
TCH(H) 10 10 1 1
D77SEC84040A0 5.19
AVK3
SERVICE MANUAL
H Axis Move Gain
high speed speed

speed prorl integra
POST1 0.00 10 10 1 1 1 1
POST2 0.20 500 200 8 20 20 5
ORIGIN 0 0 1 1 1 1
TCH(L) 10 10 1 1 10 0
TCH(H) 2084 750 15 14 10 1
H Axis Stop Gain

POST1 1 1 1 1
POST2 25 20 10 0
ORIGIN 1 20 10 1
TCH(L) 1 1 10 0
TCH(H) 11 2.5 15 5
H Axis Move Gain
high speed speed

speed prorl integra
POST1 0.00 4000 3250 8 8 5 5
POST2 00.00 3500 1200 8 8 5 5
ORIGIN 120 50 16 13 0 0
TCH(L) 18 13 16 13 0 0
TCH(H) 128 50 16 13 0 0
H Axis Stop Gain

POST1 12 20 5 0
POST2 12 20 5 0
ORIGIN 20 20 0 0
TCH(L) 20 20 0 0
TCH(H) 20 20 0 0
5.110 D77SEC84040A0
AVK3
SERVICE MANUAL
A Axis Move Gain
high speed speed

speed prorl integra
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
A Axis Stop Gain

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
high speed speed

speed prorl integra
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

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
high speed speed

speed prorl integra
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
D77SEC84040A0 5.111
AVK3
SERVICE MANUAL
WA Axis Stop Gain

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
high speed speed

speed prorl integra
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

POST1 10 1 25 0
ORIGIN 3 2 2 8
TCH(L) 5 2 2 8
TCH(H) 5 2 2 8
5.112 D77SEC84040A0
AVK3
SERVICE MANUAL
1. Change the movement gain setting values according to the following table.
=NOTE=
The values of Feed forward should be the standard values.
Motor Not smooth Bad positioning

Ideal Noisy
condition movement precision
Wave
1. Reduce the 1. Reduce the posi- 1. Reduce the posi-

speed feedback. tional feedback. tional feedback.
Adjust-
2. Reduce the 2. Reduce the 2. Reduce the
ment pro-
integral of speed. speed feedback. speed feedback.
cedure
3. Reduce the posi- 3. Reduce the 3. Reduce the
tional feedback. integral of speed. integral of speed.
AC servo driver wave
(Oscilloscope)
Stopping gain
Movement gain adjustable area
adjustable area
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.
D77SEC84040A0 5.113
AVK3
SERVICE MANUAL
4. If the wave is still bad shape, back to the following screen and select F2 (STOPPING
DRIVER GAIN SETTING).
DRIVER GAIN SETTING

F1. MOVEMENT DRIVER GAIN SETTING
F2. STOPPING DRIVER GAIN SETTING
F3.
F4.
F5.
F6.
F7.
< F1 > < F2 > < F3 > < F4 > < F5 > < F6 > < F7 > < F8 >
MOVEMENT STOPPING RETURN
GAIN GAIN TO DISP
5. Change the stopping gain setting values with the same procedures as the movement gain.
=NOTE=
The values of Change time should be standard values.
6. Execute the program and check the motor wave.
5.114 D77SEC84040A0

Ac Servo Gain Adjustment 1

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AVK3

5.1 AC Servo Gain Adjustment

5.1 AC Servo Gain Adjustment