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10–1
Chapter 10 Adjustment
10-1 Measurement of adjustment data ........................................................... 10-2
10-1-1 D/A output specifications ................................................................. 10-2
10-1-2 Setting the output data..................................................................... 10-2
10-1-3 Setting the output scale ................................................................... 10-2
10-2 Gain adjustment....................................................................................... 10-3
10-2-1 Current loop gain ............................................................................. 10-3
10-2-2 Speed loop gain ............................................................................... 10-3
10-2-3 Position loop gain............................................................................. 10-5
10-3 Characteristics improvement ................................................................. 10-7
10-3-1 Optimal adjustment of cycle time ..................................................... 10-7
10-3-2 Vibration suppression method.......................................................... 10-10
10-3-3 Improving the cutting surface precision............................................ 10-12
10-3-4 Improvement of protrusion at quadrant changeover ........................ 10-14
10-3-5 Improvement of overshooting........................................................... 10-19
10-3-6 Improvement of characteristics during
acceleration/deceleration.................................................................. 10-22
10-4 Setting for emergency stop .................................................................... 10-25
10-4-1 Vertical axis drop prevention control ................................................ 10-25
10-4-2 Deceleration control ......................................................................... 10-33
10-5 Collision detection................................................................................... 10-34
10-6 Parameter list ........................................................................................... 10-37