YASKAWA SGM-A3 User Manual page 443

SERVO ADJUSTMENT
B.2.1 Adjusting Using Auto-tuning
B.2 Adjusting a Servopack for Speed Control
B.2.1 Adjusting Using Auto-tuning
B
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This section gives examples of adjusting the gains of a Servopack for speed control
manually and using auto-tuning.
B.2.1 Adjusting Using Auto-tuning
B.2.2 Manual Adjustment
The DR1 Servopack does not offer auto-tuning.
1) Important Points About Auto-tuning
a) Speed During Auto-tuning
Auto-tuning may not function correctly if the speed is too low. Set the speed to approx-
imately 500 r/min.
Set the speed with the user constant Cn-10 (Jog speed).
b) Selecting Machine Rigidity
If the machine rigidity is unknown, select the rigidity according to the following stan-
dards.
Drive Method
Ball screw, direct
Ball screw, with reduction gears
Timing belt
Chain
Wave reduction gears*
* Product name: Harmonic Drive
Select the machine rigidity level for DR2, SGDA and SGDB andaccording to the
table.
Level
7 (C-007) High
6 (C-006)
⋮
5 (C-005)
⋮
4 (C-004)
⋮
3 (C-003) Medium
2 (C-002)
⋮
1 (C-001) Low
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DR2, SGDA, SGDB
3 (C-003) to 7 (C-007)
2 (C-002) to 3 (C-003)
1 (C-001) to 3 (C-003)
1 (C-001) to 2 (C-002)
1 (C-001) to 2 (C-002)
Rigidity
Machine Rigidity
SGD
High/medium response
Medium response
Low/medium response
Low response
Low response
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