Effects Of Related Parameters; Adjustment Methods - YASKAWA SGD7S series Product Manual

7.1.3

Effects of Related Parameters

The effects of the related parameters are described below.
Parameter Number

Pn070 = n.
Pn153
Pn154
7.1.4

Adjustment Methods

The servo gain adjustments must be completed to prepare for this adjustment.
1.
Measure the circular trajectory, and check for any radius errors (arc reductions or
expansions).
2.
If arc reduction occurs in comparison with the reference circle, increase the predictive
control equivalent Kp ratio (Pn153) by 10 at a time, and measure the circular trajectory.
Parameter Name
Function Selection
during Cutting Feeding,
X
Enable/Disable Predic-
tive Control
Predictive Control
Equivalent Kp Ratio
Predictive Control
Speed Feedforward
Gain
7.1 Parameter Adjustments for Predictive Control

7.1.3 Effects of Related Parameters

Effects
Using predictive control will normally shorten positioning time
or improve trajectory tracking.
If arc reduction occurs, increase the setting of this parameter
by 10 at a time. As you increase the setting, the constant
deviation for a constant speed reference will decrease, but if
the setting is too high, vibration will occur.
Increase the setting of this parameter to reduce corner over-
shooting. However, this tends to cause arc radius reduction.
(This can improve the response to the position reference.)
Shrunken circle
Negative error: -10.00
Positive error: 10.00
Reference circle
Actual circle
(Unit: μm)
Shrunken circle
Negative error: -10.00
Positive error: 10.00
Reference circle
Actual circle
(Unit: μm)
7
7-3