One-Parameter Tuning Example - YASKAWA Σ-V Series User Manual

5.5.3 One-parameter Tuning Example

The following procedure is used for one-parameter tuning on the condition that the tuning mode is set to 2, or
3. This mode is used to reduce positioning time.
Step Measuring Instrument Display Example
1
2
3
4
5
Position error
pulse
Reference pulse
speed
(500 mm/s)
Positioning
completed signal
5.5 One-parameter Tuning (Fn203)
Operation
Measure the positioning time after setting the mass ratio
(Pn103) correctly. Tuning will be completed if the specifica-
tions are met here. Save the tuning results in the SERVO-
PACK.
The positioning time will become shorter if the FF level is
increased.
The tuning will be completed if the specifications are met.
Save the tuning results in the SERVOPACK. If overshooting
occurs before the specifications are met, go to step 3.
Overshooting will be reduced if the FB level is increased.
If the overshooting is solved, go to step 4.
The graph shows overshooting generated with the FF level
increased in step 3. In this state, the overshooting occurs, but
the positioning setting time is short.
The tuning will be completed if the specifications are met.
Save the adjustment results in the SERVOPACK. If overshoot-
ing occurs before the specifications are met, repeat steps 3 and
4.
If vibration occurs before the overshooting is eliminated, sup-
press the vibration by the notch filter and anti-resonance con-
trol.
Note:
The vibration frequencies may not be detected if the vibration
is too small. If that occurs, press the
the vibration frequencies.
Save the adjustment results in the SERVOPACK.
Key to forcibly detect
5
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