Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 140)

5.1 Adjustments and Basic Adjustment Procedure
5-3
Adjustments
5.1 Adjustments and Basic Adjustment Procedure
This section describes adjustments and the basic adjustment procedure.
5.1.1 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
Tuning-less Level Setting
(Fn200)
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 (Fn201)
The following parameters are automatically adjusted using internal refer-
ences in the SERVOPACK 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 refer-
ence 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 opera-
tion.
• 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 (Fn204) This function effectively suppresses continuous vibration.
Speed and Position
Vibration Suppression
Function (Fn205)
This function effectively suppresses residual vibration if it occurs when
positioning.
Position