YASKAWA SGDH - Page 23

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9.3 Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-12
9.3.1 Explanation of Servo Gain- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-12
9.3.2 Servo Gain Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-13
9.3.3 Position Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-13
9.3.4 Speed Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-14
9.3.5 Speed Loop Integral Time Constant - - - - - - - - - - - - - - - - - - - - - - - -9-14
9.4 Servo Gain Adjustment Functions - - - - - - - - - - - - - - - - - - 9-15
9.4.1 Feed-forward Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-15
9.4.2 Torque Feed-forward- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-16
9.4.3 Speed Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-17
9.4.4 Proportional Control Operation (Proportional Operation Reference)- -9-18
9.4.5 Using the Mode Switch (P/PI Switching) - - - - - - - - - - - - - - - - - - - - -9-19
9.4.6 Setting the Speed Bias - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-22
9.4.7 Speed Feedback Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-22
9.4.8 Speed Feedback Compensation - - - - - - - - - - - - - - - - - - - - - - - - - -9-23
9.4.9 Switching Gain Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-25
9.4.10 Torque Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-26
9.5 Analog Monitor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-28
10 Inspection, Maintenance, and Troubleshooting
10.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.1.1 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-2
10.1.2 Warning Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-4
10.1.3 Alarm Display Table when the Application Module is Used - - - - - - -10-5
10.1.4 Warning Display Table when the Application Module is Used - - - - - 10-6
10.1.5 Alarm Display Table when the Linear Motor is Used - - - - - - - - - - - -10-6
10.1.6 Troubleshooting of Alarm and Warning - - - - - - - - - - - - - - - - - - - - -10-7
10.1.7 Troubleshooting for Malfunction without Alarm Display - - - - - - - - - 10-17
10.2 Inspection and Maintenance - - - - - - - - - - - - - - - - - - - - 10-22
10.2.1 Servomotor Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-22
10.2.2 SERVOPACK Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-22
10.2.3 SERVOPACK’s Parts Replacement Schedule - - - - - - - - - - - - - - - 10-23
11 Appendix
11.1 Servomotor Capacity Selection Examples - - - - - - - - - - - - 11-2
11.1.1 Selection Example for Speed Control - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.2 Selection Example for Position Control - - - - - - - - - - - - - - - - - - - - - 11-4
11.1.3 Calculating the Required Capacity of Regenerative Resistors - - - - - 11-7
11.2 Connection to Host Controller - - - - - - - - - - - - - - - - - - - 11-16
11.2.1 Example of Connection to MP920 4-axes Analog Module SVA-01 - 11-16
11.2.2 Example of Connection to CP-9200SH Servo Controller Module
SVA (SERVOPACK in Speed Control Mode) - - - - - - - - - - - - - - - - 11-17
11.2.3 Example of Connection to MEMOCON GL120/130 Series Motion
Module MC20- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-18
11.2.4 Example of Connection to MEMOCON GL60/70 Series Positioning
Module B2813 (SERVOPACK in Position Control Mode) - - - - - - - 11-19
11.2.5 Example of Connection to OMRON’s Motion Control Unit - - - - - - - 11-20