Chapter 6 Adjustments; Type Of Adjustments And Basic Adjustment Procedure; Adjustments - YASKAWA Sigma-V Series User Manual

6.1

Type of Adjustments and Basic Adjustment Procedure

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

6.1.1 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
Adjustment
This function is enabled when the factory settings
Tuning-less
are used. This function can be used to obtain a sta-
Levels Setting
ble response regardless of the type of machine or
(Fn200)
changes in the load.
The following parameters are automatically
adjusted using internal references in the SERVO-
PACK during automatic operation.
• Moment of inertia ratio
Advanced Autotun-
• Gains (position loop gain, speed loop gain, etc.)
ing (Fn201)
• Filters (torque reference filter, notch filter)
• Friction compensation
• Anti-resonance control adjustment function
• Vibration suppression function
The following parameters are automatically
adjusted with the position reference input from the
host controller while the machine is in operation.
Advanced Autotun-
• Gains (position loop gain, speed loop gain, etc.)
ing by Reference
• Filters (torque reference filter, notch filter)
(Fn202)
• 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.
One-parameter
• Gains (position loop gain, speed loop gain, etc.)
Tuning (Fn203)
• Filters (torque reference filter, notch filter)
• Friction compensation
• Anti-resonance control adjustment function
∗
: Available
Δ: Can be used but functions are limited.
×: Not available
Outline
Speed and
Position
Speed and
Position
Position
Speed and
Position

6.1 Type of Adjustments and Basic Adjustment Procedure

Applicable
Control
Digital
Method
Operator
Tool*
Panel
SigmaWin+
Operator
×
×
Δ
6-3
6