6.5.2 Cutting Feed (G01) Servo Gain Adjustment - YASKAWA SGD7S series Product Manual

6.5 Tuning the Servo Gains

6.5.2 Cutting Feed (G01) Servo Gain Adjustment

Step 1: Pre-adjustment Checks for Servo Gains
Step 1 is used to perform pre-adjustment checks for servo gains.
1.
Confirmation of Control Method
Check that Pn10B is set to n.
For ordinary and cutting application feed shafts, we recommend that you use I-P control for speed
control.
2.
Confirmation of Resonance and Anti-resonance Frequencies in Mechanical Analysis
When applying vibration suppression controls (anti-resonance control, torque reference filter, and
notch filter), refer to the measurement data for resonance and anti-resonance frequencies during
mechanical analysis to perform adjustments.
Perform mechanical analysis as necessary, and confirm the results. Refer to the following manual for
details on mechanical analysis.
3.
Confirmation of Operation Programs for Adjustments
In these adjustments, run adjustment programs with host command while adjusting the gains.
Step 2: Tuning the Servo Gains
In step 2, vibration suppression is performed using vibration suppression controls (anti-reso-
nance control, torque reference filter, and notch filter) as necessary while increasing servo
gains.
A procedure flowchart for step 2 servo gain adjustment is provided below.
To adjust the servo gains, custom tuning is performed from the SigmaWin+. Refer to the follow-
ing manual for details on custom tuning.
Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual No.:
SIEP S800001 28)
Note: 1. Set the tuning mode to 1 (Set high-response priority servo gain).
2. Torque ripple tends to increase as the speed slows, so check the torque ripple at the minimum cutting feed
6-10
Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual
No.: SIEP S800001 28)
 Vibrations that result from high servo gains are automatically detected and suppressed with
one-parameter tuning. Depending on the machine, rigidity and other problems could result
in failure to detect and suppress vibration even if you increase the servo gains.
• If vibration is not detected, set the sampling time in the SigmaWin+ to 125 μs and measure the
vibration frequencies. Set an anti-resonance or notch filters, depending on the measured vibra-
tion frequencies.
• Lower the gain if there is little effect even if you apply an anti-resonance or notch filter.
speed after the tuning level is established. If the torque ripple exceeds 5% of the rated torque, lower the
tuning level.
 
1 (Speed Control Method: I-P Control).
CAUTION