8.1 Type of Adjustments and Basic Adjustment Procedure
8-3
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 Outline
Applicable Control
Method
Tuning-less
Levels Setting
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.
Speed and Position
Advanced Autotuning
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
Speed and Position
Advanced Autotuning by
Reference
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
Position
One-parameter Tuning
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
Speed and Position
Anti-Resonance Control
Adjustment Function
This function effectively suppresses continuous vibra-
tion.
Speed and Position
Vibration Suppression
Function
This function effectively suppresses residual vibration if
it occurs when positioning.
Position
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