1 adjustments – Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference User Manual

Page 156

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5.1 Type of Adjustments and Basic Adjustment Procedure

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5.1 Type of Adjustments and Basic Adjustment Procedure

This section describes type of adjustments and the basic adjustment procedure.

5.1.1 Adjustments

Adjustments (tuning) are 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, such as speed loop gain, position loop gain, filters,

friction compensation, and moment of inertia ratio. 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. In such case, it is possible to suppress the vibration with a variety of vibration

suppression functions in the SERVOPACK.

The servo gains are factory-set to appropriate values for stable operation. The following utility function can be

used to adjust the servo gain to increase the responsiveness of the machine in accordance with the actual con-
ditions. With this function, parameters related to adjustment above will be adjusted automatically and the need

to adjust them individually will be eliminated.

This section describes the following utility adjustment functions.

Utility Function for

Adjustment

Outline

Applicable Control

Method

Tuning-less

Levels Setting

(Fn200)

This function is enabled when the factory settings are used. This func-
tion 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
references 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 function

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 opera-
tion.

• Gains (position loop gain, speed loop gain, etc.)
• Filters (torque reference filter, notch filter)
• Friction compensation
• Anti-resonance control adjustment function
• Vibration suppression function

Position

One-parameter Tuning

(Fn203)

The following parameters are manually adjusted with the position or
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

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

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