Adjustments And Basic Adjustment Procedure; Adjustments - YASKAWA Σ-V Series User Manual

5.1

Adjustments and Basic Adjustment Procedure

This section describes adjustments and the basic adjustment procedure.

5.1.1 Adjustments

Tuning is 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 mass 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 cases, 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, these parameters will be adjusted automatically and the need to adjust them individually will be elimi-
nated.
This section describes the following utility adjustment functions.
Utility Function for Adjustment
Tuning-less Level Setting
(Fn200)
Advanced Autotuning (Fn201)
Advanced Autotuning by
Reference (Fn202)
One-parameter Tuning
(Fn203)
Anti-resonance Control
Adjustment Function (Fn204)
Vibration Suppression
Function (Fn205)
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.
The following parameters are automatically adjusted using internal refer-
ences in the SERVOPACK during automatic operation.
• Mass ratio
• Gains (position loop gain, speed loop gain, etc.)
• Filters (force reference filter, notch filter)
• Friction compensation
• Anti-resonance control adjustment function
• Vibration suppression
The following parameters are automatically adjusted with the position refer-
ence input from the host controller while the machine is in operation.
• Gains (position loop gain, speed loop gain, etc.)
• Filters (force reference filter, notch filter)
• Friction compensation
• Anti-resonance control adjustment function
• Vibration suppression
The following parameters are automatically adjusted with the position,
speed reference input from the host controller while the machine is in opera-
tion.
• Gains (position loop gain, speed loop gain, etc.)
• Filters (force reference filter, notch filter)
• Friction compensation
• Anti-resonance control adjustment function
This function effectively suppresses continuous vibration.
This function effectively suppresses residual vibration if it occurs when
positioning.

5.1 Adjustments and Basic Adjustment Procedure

Outline
Applicable
Control Mode
Speed and Position
Speed and Position
Position
Speed and Position
5
Speed and Position
Position
5-3