YASKAWA Sigma-7 SGD7S Series - Page 417

Step Description
1 Friction compensation must also be used. Set the friction compensation
parameters. Refer to the following section for the setting procedure.
Ä Chap. 9.13.3 ‘Friction Compensation’ page 394
2 Adjust the servo gains. Refer to the following section for an example proce-
dure.
Ä ‘Adjusted Servo Gains’ page 407
Note:
1. Set the moment of inertia ratio (Pn103) as accurately as possible.
2. Refer to the guidelines for manually tuning the servo gains and set a stable
gain for the position loop gain (Pn102).
Ä ‘Guidelines for Manually Tuning Servo Gains’ page 414
3 Increase the model following control gain (Pn141) as much as possible within
the range in which overshooting and vibration do not occur.
4 If overshooting occurs or if the response is different for forward and reverse
operation, fine-tune model following control with the following settings: model
following control bias in the forward direction (Pn143), model following control
bias in the reverse direction (Pn144), and model following control speed feed-
forward compensation (Pn147).
n Related Parameters
Next we will describe the following parameters that are used for model following con-
trol.
– Pn140 (Model Following Control-Related Selections)
– Pn141 (Model Following Control Gain)
– Pn143 (Model Following Control Bias in the Forward Direction)
– Pn144 (Model Following Control Bias in the Reverse Direction)
– Pn147 (Model Following Control Speed Feedforward Compensation)
n Model Following Control-Related Selections
Set Pn140 = n.X to specify whether to use model following control.
If you use model following control with vibration suppression, set Pn140 to n.1
or Pn140 = n.2. When you also perform vibration suppression, adjust vibration
suppression with custom tuning in advance.
Note: If you use vibration suppression (Pn140 = n.1 or Pn140 = n.2),
always set Pn140 to n.1 (Use model following control).
Parameter Function When Enabled Classification
Pn140
n.0
(default
setting)
Do not use model fol-
lowing control.
Immediately Tuning
n.1
Use model following
control.
n.0
(default
setting)
Do not perform vibration
suppression.
Sigma-7 Series SERVOPACKs
Tuning
Manual Tuning > Tuning the Servo Gains
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