YASKAWA SGD7S series Product Manual page 133

6.5 Tuning the Servo Gains
6.5.2 Cutting Feed (G01) Servo Gain Adjustment
Step 3: Torque Ripple Check at Constant Speed
In step 3, the torque ripple (which is a cause of vibration) is adjusted at a constant speed so
that it is within 5% of the rated torque (the allowable range).
A flowchart of the procedure to confirm the torque ripple at a constant speed is given below.
For confirmation, perform custom tuning on the SigmaWin+.
Lower the speed and check the torque
ripple for the torque reference at a constant.
Minimum cutting feed speed
(approx. 1,000 [mm/min])
Maximum cutting feed speed × 50%
Step 4: Recording Adjusted Servo Gain Values for Cutting
Feeding
In step 4, the final adjusted values from steps 2 and 3 are recorded for all shafts. The values
must be recorded in the following parameters.
• Pn100 (Speed Loop Gain)
• Pn101 (Speed Loop Integral Time Constant)
• Pn102 (Position Loop Gain)
• Pn401 (First Stage First Torque Reference Filter Time Constant)
Perform step 1 through 4 for the other shafts.
6-12
START
Servo gains adjusted?
Yes
Operate the adjustment program at
the maximum cutting feed speed.
Check the torque ripple.
Torque ripple at constant
speed for torque reference
below 5%?
(Torque ripple is 5% or greater.)
Yes
No
Confirmation completed
for all speed ranges?
Yes
END
No
Adjust the tuning level starting
from the default value.
Decrease the tuning
level by 5.
Torque ripple at constant
speed for torque reference
No
No
Decrease the tuning
Increase the tuning
level by 5.
Yes
below 5%?
(Torque ripple is less than 5%.)
level by 5.