Chapter 8 Adjustments; Type Of Adjustments And Basic Adjustment Procedure; Adjustments - YASKAWA E-V-MD Series User Manual

8.1

Type of Adjustments and Basic Adjustment Procedure

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

8.1.1 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
Tuning-less
Levels Setting
Advanced Autotuning
Advanced Autotuning by
Reference
One-parameter Tuning
Anti-Resonance Control
Adjustment Function
Vibration Suppression
Function

8.1 Type of Adjustments and Basic Adjustment Procedure

Outline
This function is enabled when the factory settings are
used. This function can be used to obtain a stable
response regardless of the type of machine or changes in
the load.
You can automatically adjust the following from the Sig-
maWin+ by executing moment of inertia (mass) identifi-
cation and autotuning without a host reference.
• Moment of inertia ratio
• Gains (position loop gain, speed loop gain, etc.)
• Filters (torque reference filter, notch filter)
• Friction compensation
• Anti-resonance control adjustment function
• Vibration suppression function
After you set the moment of inertia ratio, you can auto-
matically adjust the following from the SigmaWin+ by
executing autotuning with a host reference.
• Gains (position loop gain, speed loop gain, etc.)
• Filters (torque reference filter, notch filter)
• Friction compensation
• Anti-resonance control adjustment function
• Vibration suppression function
You can adjust the following by executing custom tuning
from the SigmaWin+.
• Gains (position loop gain, speed loop gain, etc.)
• Filters (torque reference filter, notch filter)
• Friction compensation
• Anti-resonance control adjustment function
This function effectively suppresses continuous vibra-
tion.
This function effectively suppresses residual vibration if
it occurs when positioning.
Applicable Control
Method
Speed and Position
Speed and Position
Position
Speed and Position
Speed and Position
Position
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