Adjusting Less-Deviation Control 1; Adjustment Procedure - YASKAWA SGD7S series Product Manual

3.4 Adjusting Less-Deviation Control 1

3.4.1 Adjustment Procedure

3.4 Adjusting Less-Deviation Control 1
3.4.1 Adjustment Procedure
The basic adjustment flowchart for Less-Deviation Control 1 is given in the following flowchart.
Make suitable adjustments considering the conditions and operating requirements of your
machine.
*
Refer to one of the following manuals for details.
Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual
(Manual No.: SIEP S800001 26)
Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-III Communications References Product Manual
(Manual No.: SIEP S800001 28)
3-12
Start adjustment
∙ Set Pn170 to n. 0 (Disable tuning-less function).
∙ Set Pn190 to n. 0 (Do not use less-deviation control).
∙ Set Pn408 to n.1 (Use friction compensation).
∙ If you will use a SERVOPACK with Analog Voltage/Pulse Train
References, set Pn000 to n.
Position control with pulse train references).
Set the Tuning Mode to 1 and make adjustments with One-Parameter Tuning (Fn203).*
∙ Set Pn190 to n. 1 (Use less-deviation control).
∙ Set Pn195 to n.0 (Use less-deviation control 1).
Reduce the setting of Pn193 (Less-Deviation Control 1 Feedforward
Filter Time Constant) by 0.1 ms.
No
Does vibration or noise occur?
Increase the setting of Pn193 by 0.1 ms.
Does overshooting occur?
Reduce the setting of Pn191 (Less-Deviation Control 1 Feedforward Gain) by 10%.
1 (Control Method Selection:
Yes
No
Yes
End