Chapter 5 Adjustments; Type Of Adjustments And Basic Adjustment Procedure; Adjustments - YASKAWA SGMJV User Manual

5.1

Type of Adjustments and Basic Adjustment Procedure

This section describes type of adjustments and the basic adjustment procedure.

5.1.1 Adjustments

Adjustments (tuning) are performed to optimize the responsiveness of the SERVOPACK.
The responsiveness is determined by the servo gain that is set in the SERVOPACK.
The servo gain is set using a combination of parameters, such as speed loop gain, position loop gain, filters,
friction compensation, and moment of inertia ratio. These parameters influence each other. Therefore, the
servo gain must be set considering the balance between the set values.
Generally, the responsiveness of a machine with high rigidity can be improved by increasing the servo gain. If
the servo gain of a machine with low rigidity is increased, however, the machine will vibrate and the respon-
siveness may not be improved. In such case, it is possible to suppress the vibration with a variety of vibration
suppression functions in the SERVOPACK.
The servo gains are factory-set to appropriate values for stable operation. The following utility function can be
used to adjust the servo gain to increase the responsiveness of the machine in accordance with the actual con-
ditions. With this function, parameters related to adjustment above will be adjusted automatically and the need
to adjust them individually will be eliminated.
This section describes the following utility adjustment functions.
Utility
Function for Adjust-
ment
Tuning-less
Levels Setting
(Fn200)
Advanced Autotuning
(Fn201)
Advanced Autotuning
by Reference (Fn202)
One-parameter Tuning
(Fn203)
Anti-Resonance
Control Adjustment
Function (Fn204)
Vibration Suppression
Function (Fn205)
Outline
This function is enabled when the factory settings are used. This
function can be used to obtain a stable response regardless of the
type of machine or changes in the load.
The following parameters are automatically adjusted using internal
references in the SERVOPACK during automatic operation.
• Moment of inertia ratio
• Gains (position loop gain, speed loop gain, etc.)
• Filters (torque reference filter, notch filter)
• Friction compensation
• Anti-resonance control adjustment function
• Vibration suppression function
The following parameters are automatically adjusted with the posi-
tion reference input from the host controller while the machine is in
operation.
• Gains (position loop gain, speed loop gain, etc.)
• Filters (torque reference filter, notch filter)
• Friction compensation
• Anti-resonance control adjustment function
• Vibration suppression function
The following parameters are manually adjusted with the position or
speed reference input from the host controller while the machine is
in operation.
• Gains (position loop gain, speed loop gain, etc.)
• Filters (torque reference filter, notch filter)
• Friction compensation
• Anti-resonance control adjustment function
This function effectively suppresses continuous vibration.
This function effectively suppresses residual vibration if it occurs
when positioning.

5.1 Type of Adjustments and Basic Adjustment Procedure

Applicable Control
Method
Speed and Position
Speed and Position
Position
5
Speed and Position
Speed and Position
Position
5-3