YASKAWA SGDV - Adjustments and Basic Adjustment Procedure

6.1 Adjustments and Basic Adjustment Procedure
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Adjustments
6.1 Adjustments and Basic Adjustment Procedure
This section describes adjustments and the basic adjustment procedure.
6.1.1 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. 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.
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
Outline
Applicable
Control
Mode
Too l*
Digital
Operator
Panel
Operator
SigmaWin+
Tuning-less
Function
(Fn200)
This function is enabled when the factory settings
are used. This function can be used to obtain a sta-
ble response regardless of the type of machine or
changes in the load.
Speed and
Position
{{{
Advanced
Autotuning (Fn201)
The following parameters are automatically
adjusted using internal references in the SERVO-
PACK during automatic operation.
• 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
Speed and
Position
{ × {
Advanced
Autotuning by
Reference (Fn202)
The following parameters are automatically
adjusted with the position reference input from the
host controller while the machine is in operation.
• Gains (position loop gain, speed loop gain, etc.)
• Filters (torque reference filter, notch filter)
• Friction compensation
• Anti-resonance control adjustment function
• Vibration suppression
Position { × {
One-parameter
Tuning (Fn203)
The following parameters are automatically
adjusted with the position, speed reference input
from the host controller while the machine is in
operation.
• Gains (position loop gain, speed loop gain, etc.)
• Filters (torque reference filter, notch filter)
• Friction compensation
• Anti-resonance control adjustment function
Speed and
Position
{ Δ {
Anti-Resonance
Control Adjustment
Function (Fn204)
This function effectively suppresses continuous
vibration.
Speed and
Position
{ × {