7
Tuning
1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2. Control Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2. Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2. Position Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Quick Tuning on "Servo Studio" � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �9
Final Tuning: Position Control Mode � � � � � � � � � � � � � � � � � � � � � � � �12
Quick Tuning on Setup Panel � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �14
3. Velocity Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Auto Tuning on "Servo Studio" � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �17
Final Tuning: Velocity Control Mode � � � � � � � � � � � � � � � � � � � � � � � �20
Auto Tuning on Setup Panel � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �22
3. Tuning Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
1. Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Inertia Condition � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �26
Control Gain Set � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �27
Mode Switch � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �28
Tuning Items � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �28
2. Final Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Inertia Ratio � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �29
Position Control Mode: Control Gain 1 � � � � � � � � � � � � � � � � � � � � � � �30
Position Control Mode: Control Gain 2 � � � � � � � � � � � � � � � � � � � � � � �31
Velocity Control Mode: Control Gain 1 � � � � � � � � � � � � � � � � � � � � � �32
Position Control Mode: Gain FF Compensation 1 � � � � � � � � � � � � � �33
Position Control Mode: Gain FF Compensation 2 � � � � � � � � � � � � � �34
Integral Gain � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �35
3. Position Command Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Position Command: Smoothing Filters 1 and 2 � � � � � � � � � � � � � � � �38
Position Command: Notch Filter � � � � � � � � � � � � � � � � � � � � � � � � � � � �39
Position Command: γ-Notch Filter � � � � � � � � � � � � � � � � � � � � � � � � � �40
4. Torque Command Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Torque Command Filter: Notch Filter � � � � � � � � � � � � � � � � � � � � � � � �42
Torque Command: Low-Pass Filter � � � � � � � � � � � � � � � � � � � � � � � � � �43
4.
Using "Servo Studio" to Measure Vibration Frequency (FFT)
. . 44
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