Tuning Functions; Diagnostic Tool - YASKAWA SGD7S Product Manual

8.1.1

Tuning Functions

The following table provides an overview of the tuning functions.
Tuning Function
Tuning-less Function
Moment of Inertia
Estimation
Autotuning without
Host Reference
Autotuning with Host
Reference
Custom Tuning
Anti-resonance
Control Adjustment
Vibration
Suppression
Speed Ripple Com-
pensation
Additional
Adjustment Function
Manual Tuning
8.1.2

Diagnostic Tool

You can use the following tools to measure the frequency characteristics of the machine and
set notch filters.

Diagnostic Tool

Mechanical Analysis
Easy FFT
This automatic adjustment function is designed to enable stable opera-
tion without servo tuning. This function can be used to obtain a stable
response regardless of the type of machine or changes in the load. You
can use it with the default settings.
The moment of inertia ratio is calculated by operating the Servomotor a
few times.
The moment of inertia ratio that is calculated here is used in other tun-
ing functions.
The following parameters are automatically adjusted in the internal ref-
erences in the SERVOPACK during automatic operation.
• Gains (e.g., position loop gain and speed loop gain)
• Filters (torque reference filter and notch filters)
• Friction compensation
• Anti-resonance control
• Vibration suppression
The following parameters are automatically adjusted with the position
reference input from the host controller while the machine is in opera-
tion. You can use this function for fine-tuning after you perform autotun-
ing without a host reference.
• Gains (e.g., position loop gain and speed loop gain)
• Filters (torque reference filter and notch filters)
• Friction compensation
• Anti-resonance control
• Vibration suppression
The following parameters are adjusted with the position reference or
speed reference input from the host controller while the machine is in
operation.
• Gains (e.g., position loop gain and speed loop gain)
• Filters (torque reference filter and notch filters)
• Friction compensation
• Anti-resonance control
This function effectively suppresses continuous vibration.
This function effectively suppresses residual vibration if it occurs when
positioning.
This function reduces the ripple in the motor speed.
This function combines autotuning with custom tuning. You can use it
to improve adjustment results.
You can manually adjust the servo gains to adjust the response.
The machine is subjected to vibration to detect resonance frequencies.
The measurement results are displayed as waveforms or numeric data.
The machine is subjected to vibration to detect resonance frequencies.
The measurement results are displayed only as numeric data.
8.1 Overview and Flow of Tuning
Outline
Outline

8.1.1 Tuning Functions

Reference
page 8-11
page 8-15
page 8-23
page 8-34
page 8-42
page 8-51
page 8-56
page 8-60
page 8-66
page 8-77
Reference
page 8-91
page 8-93
8-5
8