YASKAWA Sigma-7 SGD7S Series - Page 425

Servomotor
Motor speed
Reference that
causes vibration
SERVOPACK
Motor speed
Reference that
causes vibration
Support
Software
Computer
Fig. 314: Mechanical Analysis
The Servomotor is used to cause machine vibration and then the speed frequency char-
acteristics for the motor torque are measured. The measured frequency characteristics
can be used to determine the machine resonance.
You determine the machine resonance for use in servo tuning and as reference for con-
sidering changes to the machine. The performance of the servo cannot be completely uti-
lized depending on the rigidity of the machine. You may need to consider making
changes to the machine. The information can also be used as reference for servo tuning
to help you adjust parameters, such as the servo rigidity and torque filter time constant.
You can also use the information to set parameters, such as the notch filters.
WARNING!
Mechanical analysis requires operating the Servomotor and therefore
presents hazards. Before you execute mechanical analysis, check the
information provided in the SigmaWin+ operating manual.
The Servomotor is used to cause the machine to vibrate and the frequency characteris-
tics from the torque to the motor speed are measured to determine the machine charac-
teristics. For a normal machine, the resonance frequencies are clear when the frequency
characteristics are plotted on graphs with the gain and phase (Bode plots). The Bode
plots show the size (gain) of the response of the machine to which the torque is applied,
and the phase delay (phase) in the response for each frequency. Also, the machine reso-
nance frequency can be determined from the maximum frequency of the valleys (anti-res-
onance) and peaks (resonance) of the gain and the phase delay.
For a Servomotor without a load or for a rigid mechanism, the gain and phase change
gradually in the Bode plots.
Frequency Characteristics
Sigma-7 Series SERVOPACKs
Tuning
Diagnostic Tools > Mechanical Analysis
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 425