YASKAWA SGD7S series Product Manual page 423

8.13 Manual Tuning
8.13.1 Tuning the Servo Gains
The block diagram for model following control is provided below.
peed
peed pattern
Ho t controller
(Not provided by Ya kawa)
 Manual Tuning Procedure
Use the following tuning procedure for using model following control.
Step
1
2
3
4
8-84
Movement
Model following
reference
control
mKp, mVFF, mTFF
Time
Po ition control loop
+
Po ition
Deviation

loop gain
counter
Po ition loop
Friction compensation must also be used. Set the friction compensation parameters. Refer to the
following section for the setting procedure.
8.12.2 Friction Compensation on page 8-70
Adjust the servo gains. Refer to the following section for an example procedure.
Tuning Procedure Example (for Position Control or Speed Control) on page 8-77
Note: 1. Set the moment of inertia ratio (Pn103) as accurately as possible.
2. Refer to the guidelines for manually tuning the servo gains and set a stable gain for the position loop gain
(Pn102).
Guidelines for Manually Tuning Servo Gains on page 8-82
Increase the model following control gain (Pn141) as much as possible within the range in which
overshooting and vibration do not occur.
If overshooting occurs or if the response is different for forward and reverse operation, fine-tune
model following control with the following settings: model following control bias in the forward direc-
tion (Pn143), model following control bias in the reverse direction (Pn144), and model following con-
trol speed feedforward compensation (Pn147).
peed
feedforward
peed control loop
peed
reference +
peed control

ection
Kp
Kv and Ti
peed loop
ERVOPACK
Kp: Po ition loop gain (Pn102)
Kv: peed loop gain (Pn100)
Ti: peed loop integral time con tant (Pn101)
Tf: Fir t tage fir t torque reference filter time con tant (Pn401)
mKp: Model following control gain (Pn141)
mTFF: Model following control bia in the forward direction (Pn14 )
Model following control bia in the rever e direction (Pn144)
mVFF: Model following control peed feedforward compen ation (Pn147)
Description
Torque feedforward
+
Current
Tf Power

control
converter
ection
Current loop
ervomotor
M
PG
Encoder