Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 175)

5 Adjustments
5.5.3 One-parameter Tuning Example
5-38
5.5.3 One-parameter Tuning Example
The following procedure is used for one-parameter tuning on the condition that the tuning mode is set to 2, or
3. This mode is used to reduce positioning time.
Step Measuring Instrument Display Example Operation
1
Measure the positioning time after setting the moment of iner-
tia ratio (Pn103) correctly. Tuning will be completed if the
specifications are met here. Save the tuning results in the SER-
VOPACK.
2
The positioning time will become shorter if the FF level is
increased. The tuning will be completed if the specifications
are met. Save the tuning results in the SERVOPACK. If over-
shooting occurs before the specifications are met, go to step 3.
3
Overshooting will be reduced if the FB level is increased. If the
overshooting is solved, go to step 4.
4
The graph shows overshooting generated with the FF level
increased in step 3. In this state, the overshooting occurs, but
the positioning setting time is short. The tuning will be com-
pleted if the specifications are met. Save the adjustment results
in the SERVOPACK. If overshooting occurs before the specifi-
cations are met, repeat steps 3 and 4.
If vibration occurs before the overshooting is eliminated, sup-
press the vibration by the notch filter and anti-resonance con-
trol.
Note: The vibration frequencies may not be detected if the
vibration is too small. If that occurs, press the Key
to forcibly detect the vibration frequencies.
5 Save the adjustment results in the SERVOPACK.
Positioning
completed signal
Reference pulse
speed
Position error
pulse