YASKAWA SGD7S series Product Manual page 31

Adjusting the Feed Shaft Servo Gain for Cutting Applications
6
6.1 Introduction to Feed Shaft Servo Gain Adjustment . . . . . . . . . . 6-2
6.2 Flow of Feed Shaft Servo Gain Adjustments . . . . . . . . . . . . . . . 6-3
6.3 Pre-adjustment Checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.3.1 Selection of Speed Loop Control Method . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.3.2 Setting the Moment of Inertia Ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.4 Mode (Gain) Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.4.1 Mode (Gain) Selection Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.4.2 Servo Command I/O Signals (SVCMD_IO) . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.4.3 Confirming the Set Gain Bank . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.5 Tuning the Servo Gains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6.5.1 Parameters That Are Adjusted for Cutting Feeding (G01) and
Rapid Feeding (G00) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6.5.2 Cutting Feed (G01) Servo Gain Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
6.5.3 Rapid Feed (G00) Servo Gain Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . 6-14
Servo Gain Adjustments for High-speed and High-precision Control
7
7.1 Parameter Adjustments for Predictive Control . . . . . . . . . . . . . 7-2
7.1.1 Overview of Predictive Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.1.2 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.1.3 Effects of Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.1.4 Adjustment Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.2 Adjustments for Friction Compensation . . . . . . . . . . . . . . . . . . 7-5
7.2.1 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7.2.2 Effects of Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
7.2.3 Adjustment Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
Monitoring
8
8.1 Monitoring SERVOPACK Status . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.1.1 Servo Drive Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.1.2 Monitoring Status and Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.2 Monitoring Machine Operation Status and Signal Waveforms . . 8-4
8.2.1 Using the SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
8.2.2 Using a Measuring Instrument . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5
Monitoring the Clearance Control Status
8.3
8.3.1 Analog Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10
8.3.2 Option Monitors with MECHATROLINK-III Communications . . . . . . . . . . . 8-10
8.3.3 Monitoring with SigmaWin+ Waveform Traces . . . . . . . . . . . . . . . . . . . . . . 8-10
8.3.4 Monitoring with SigmaWin+ I/O Tracing. . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10
. . . . . . . . . . . . 8-10
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