YASKAWA SGD7S-xxxDA0 series Product Manual

Contents

9.1 Overview and Flow of Tuning9-49.1 Overview and Flow of TuningTuning is performed to optimize response by adjusting the servo gains in the SERVOPACK.The servo gains are set using a combination of parameters, such as parameters for the speedloop gain, position loop gain, filters, friction compensation, and moment of inertia ratio. Theseparameters influence each other, so you must consider the balance between them.The servo gains are set to stable settings by default. Use the various tuning functions toincrease the response even further for the conditions of your machine.The basic tuning procedure is shown in the following flowchart. Make suitable adjustmentsconsidering the conditions and operating requirements of your machine.*1. If vibration is occurring, proceed to “No.”*2. If possible, perform autotuning with a host reference.If a host controller is not available, set an operation pattern that is as close as possible to the host reference andperform autotuning without a host reference.If an operation pattern that is close to the host reference is not possible, perform autotuning with a host refer-ence while performing program jogging.EndStart of TuningResults acceptable? YesResults acceptable? Yes EndNoNoResults acceptable?NoEndYesEndPerform the tuning-less function.Response acceptable?*1 YesNoPerform custom tuning.Continuous VibrationAdjust anti-resonance control.Residual Vibration When PositioningPerform vibration suppression.Perform autotuning with or without a host reference.*2Estimate the moment of inertia.Initial Confirmations to Ensure Safe Tuning9.3 Precautions to Ensure Safe Tuning on page 9-8Perform manual tuning or the additional adjustment function.