Type Of Adjustments And Basic Adjustment Procedure; Adjustments - YASKAWA UAK series User Manual

9 Adjustments

9.1.1 Adjustments

9.1

Type of Adjustments and Basic Adjustment Procedure

This section describes type of adjustments and the basic adjustment procedure.
9.1.1
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,
moment of inertia ratio. These parameters influence each other. Therefore, the servo gain must be set consid-
ering 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 stable values. The following utility function can be used to adjust the servo
gain to increase the responsiveness of the machine in accordance with the actual conditions. With this func-
tion, parameters related to adjustment above will be adjusted automatically and the need to adjust them indi-
vidually will be eliminated.
This section describes the following utility adjustment functions. These functions are adjusted with SigmaWin
for Σ-V-SD (MT).
Utility Function for
Adjustment
Advanced Autotuning
Advanced Autotuning by
Reference
One-parameter Tuning
Anti-Resonance Control
Adjustment Function
9-2
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)
• Anti-resonance control adjustment 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)
• Anti-resonance control adjustment 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)
• Anti-resonance control adjustment function
This function effectively suppresses continuous vibration.
Outline
Applicable Control
Method
Speed and Position
Position
Speed and Position
Speed and Position