Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 406.4.4 Gain Setting Reference ValuesThis section describes servo gain reference values.Refer to the following for optimal gain adjustments according to the rigidity of themechanical system. Refer to these values and use the previously mentioned methodsto make gain adjustments. These values are for reference only and do not mean thatthe mechanical system has good response characteristics or is free from oscillation inthe specified ranges.Observe the response by monitoring the response waveform and make the optimumgain adjustments. If the rigidity of the machinery is high, gain increments exceedingthe described ranges are possible. Machines with High RigidityThese machines are directly connected to ball screws.Examples: Chip mounting machine, bonding machine, and high-precision machinetool Machines with Medium RigidityThese machines are driven by ball screws through speed reducers or long-lengthmachines directly driven by screws.Examples: General machine tool, transverse robot, and conveyor Machines with Low RigidityThese machines are driven by timing belts, chains, or machines with harmonic gearreducers.Examples: Conveyor, and articulated robotPosition Loop Gain (Pn102) Speed Loop Gain (Pn100) Speed Loop Integral Time Constant(Pn101)50 to 70s-1 50 to 70Hz 5 to 20msPosition Loop Gain (Pn102) Speed Loop Gain(Pn100)Speed Loop Integral Time Constant(Pn101)30 to 50s-1 30 to 50Hz 10 to 40msPosition Loop Gain (Pn102) Speed Loop Gain (Pn100) Speed Loop Integral Time Constant(Pn101)10 to 20s-1 10 to 20Hz 50 to 120ms
