YASKAWA SGD7S series Product Manual page 134

Step 5: Verification between Synchronized Shafts
In step 5, the related gain parameters are aligned between shafts that require synchronization.
A flowchart of the procedure for aligning the synchronized shafts is provided below.
Check the gain of the feed shaft with the
lowest tuning level.
Use custom tuning to align the servo
gains with the lowest tuning level.
No
Step 6: Cutting Feed Operation Check (Waveform Measure-
ment)
In step 6, a check is made to make sure that no operation problems were caused by changing
the tuning levels of other synchronized shafts to the lowest tuning level among all the synchro-
nized shafts to align the synchronized shafts. The items to confirm are as follows:
Confirm operation at all speeds (cutting feed maximum speed, minimum speed, and maximum
speed × 50%).
• There must be no vibration for the torque reference at a constant speed. (This applies to the
items affected by step 2 adjustments.)
• The torque ripple for the torque reference at a constant speed must be 5% or less of the
rated torque. (This applies to the items affected by step 3 adjustments.)
• The torque reference must not become saturated during acceleration or deceleration.
• Extreme overshooting must not occur in the position deviation during acceleration or deceler-
ation.
START
Select the feed shaft to adjust.
Feed shaft 1
Alignment completed
for all shafts?
Yes
END
6.5 Tuning the Servo Gains
6.5.2 Cutting Feed (G01) Servo Gain Adjustment
Feed shaft 2 Feed shaft 3
Make adjustments in the same
step as feed shaft 1
6
6-13