Adjusting Less-Deviation Control 2; Adjustment Procedure - YASKAWA SGD7S series Product Manual

3.3 Adjusting Less-Deviation Control 2

3.3.1 Adjustment Procedure

3.3 Adjusting Less-Deviation Control 2
3.3.1 Adjustment Procedure
The basic adjustment flowchart for Less-Deviation Control 2 is given in the following figure.
Make suitable adjustments considering the conditions and operating requirements of your
machine.
3-4
Start adjustment
∙ Set Pn170 to n. 0 (Disable tuning-less function).
∙ Set Pn190 to n. 0 (Do not use less-deviation control).
∙ If you will use a SERVOPACK with Analog Voltage/Pulse Train
References, set Pn000 to n.
Position control with pulse train references).
Turn the power supply to the SERVOPACK OFF and ON again.
Set Pn103 (Moment of Inertia Ratio).
∙ Set Pn190 to n. 1 (Use less-deviation control).
∙ Set Pn195 to n.2 (Use less-deviation control 2).
Turn the power supply to the SERVOPACK OFF and ON again.
Execute custom tuning from the SigmaWin+.
Yes
Results acceptable?
Change the settings of the following parameters.
∙ Pn100 (Speed Loop Gain): Increase the setting a little at a time.
∙ Pn101 (Speed Loop Integral Time Constant)
∙ Pn102 (Position Loop Gain)
∙ Pn11F (Position Integral Time Constant)
∙ Pn197 (Less-Deviation Control 2 Torque Feedforward Filter Time Constant)
∙ Pn401 (First Stage First Torque Reference Filter Time Constant)
Does vibration occur?
Make adjustments to control vibration (using anti-resonance control,
notch filters, etc.) from the SigmaWin+.
Results acceptable?
1 (Control Method Selection:
*1
*2
No
*3
No
Yes
*2
No
Yes
End