YASKAWA SGD7S Product Manual page 413

8.13 Manual Tuning
8.13.1 Tuning the Servo Gains
Set the machine vibration frequencies in the notch filter parameters.
Pn409
Pn40A
Pn40B
Pn40C
Pn40D
Pn40E
Pn417
Pn418
Pn419
Pn41A
Pn41B
Pn41C
Pn41D
Pn41E
Pn41F
Important
8-80
First Stage Notch Filter Frequency
Setting Range Setting Unit
50 to 5,000
First Stage Notch Filter Q Value
Setting Range Setting Unit
50 to 1,000
First Stage Notch Filter Depth
Setting Range Setting Unit
0 to 1,000
Second Stage Notch Filter Frequency
Setting Range Setting Unit
50 to 5,000
Second Stage Notch Filter Q Value
Setting Range Setting Unit
50 to 1,000
Second Stage Notch Filter Depth
Setting Range Setting Unit
0 to 1,000
Third Stage Notch Filter Frequency
Setting Range Setting Unit
50 to 5,000
Third Stage Notch Filter Q Value
Setting Range Setting Unit
50 to 1,000
Third Stage Notch Filter Depth
Setting Range Setting Unit
0 to 1,000
Fourth Stage Notch Filter Frequency
Setting Range Setting Unit
50 to 5,000
Fourth Stage Notch Filter Q Value
Setting Range Setting Unit
50 to 1,000
Fourth Stage Notch Filter Depth
Setting Range Setting Unit
0 to 1,000
Fifth Stage Notch Filter Frequency
Setting Range Setting Unit
50 to 5,000
Fifth Stage Notch Filter Q Value
Setting Range Setting Unit
50 to 1,000
Fifth Stage Notch Filter Depth
Setting Range Setting Unit
0 to 1,000
• Do not set notch filter frequencies (Pn409, Pn40C, Pn417, Pn41A, and Pn41D) that are close
to the speed loop's response frequency. Set a frequency that is at least four times the speed
loop gain (Pn100). (However, Pn103 (Moment of Inertia Ratio) must be set correctly. If the set-
ting is not correct, vibration may occur and the machine may be damaged.
• Change the notch filter frequencies (Pn409, Pn40C, Pn417, Pn41A, and Pn41D) only while the
Servomotor is stopped. Vibration may occur if a notch filter frequency is changed during oper-
ation.
Default Setting
1 Hz 5,000
Default Setting
0.01 70
Default Setting
0.001 0
Default Setting
1 Hz 5,000
Default Setting
0.01 70
Default Setting
0.001 0
Default Setting
1 Hz 5,000
Default Setting
0.01 70
Default Setting
0.001 0
Default Setting
1 Hz 5,000
Default Setting
0.01 70
Default Setting
0.001 0
Default Setting
1 Hz 5,000
Default Setting
0.01 70
Default Setting
0.001 0
Speed Position Torque
When Enabled Classification
Immediately Tuning
Speed Position Torque
When Enabled Classification
Immediately Tuning
Speed Position Torque
When Enabled Classification
Immediately Tuning
Speed Position Torque
When Enabled Classification
Immediately Tuning
Speed Position Torque
When Enabled Classification
Immediately Tuning
Speed Position Torque
When Enabled Classification
Immediately Tuning
Speed Position Torque
When Enabled Classification
Immediately Tuning
Speed Position Torque
When Enabled Classification
Immediately Tuning
Speed Position Torque
When Enabled Classification
Immediately Tuning
Speed Position Torque
When Enabled Classification
Immediately Tuning
Speed Position Torque
When Enabled Classification
Immediately Tuning
Speed Position Torque
When Enabled Classification
Immediately Tuning
Speed Position Torque
When Enabled Classification
Immediately Tuning
Speed Position Torque
When Enabled Classification
Immediately Tuning
Speed Position Torque
When Enabled Classification
Immediately Tuning