YASKAWA SGDS Sigma III Series User Manual
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Contents
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8 Adjustments8.5.1 Explanation of Servo Gain8-208.5 Manual Tuning8.5.1 Explanation of Servo GainTo adjust the servo gain manually, understand the configuration and characteristics of the SERVOPACK andadjust the servo gain parameters one by one. If one parameter is changed, it is almost always necessary to adjustthe other parameters. It will also be necessary to make preparations such as setting up a measuring instrument tomonitor the output waveform from the SERVOPACK.The SERVOPACK has three feedback loops (i.e., position loop, speed loop, and current loop). The innermostloop must have the highest response and the middle loop must have higher response than the outermost. If thisprinciple is not followed, it will result in vibration or responsiveness decreases.The SERVOPACK is designed to ensure that the current loop has good response performance. The user need toadjust only position loop gain and speed loop gain.8.5.2 Servo Gain Manual TuningThe SERVOPACK has the following parameters for the servo gains. Setting the servo gains in the parameterscan adjust the servo responsiveness.• Pn100: Speed loop gain (Kv)• Pn101: Speed loop integral time constant (Ti)• Pn102: Position loop gain (Kp)• Pn401: 1st Step 1st torque reference filter time constant (Tf)For the position and speed control, the adjustment in the following procedure can increase the responsiveness.The positioning time in position control can be reduced.Perform the manual tuning in the following cases.• If the advanced autotuning and one-parameter tuning did not give a satisfactory result.• To increase the servo gains more than the values set by the advanced autotuning and the one-parameterautotuning.• To determine the servo gains and moment of inertia ratio by the user.Start the manual tuning from the factory setting or the values set by the advanced autotuning and the one-parameter autotuning. Prepare measuring instruments such as memory recorder so that the signals can beobserved from the analog monitor (CN5) such as “Torque Reference” and “Motor Speed,” and “Position ErrorMonitor” for the position control. (Refer to 8.7 Analog Monitor.)Vibration may occur during servo gain adjustments. Validate the vibration alarm, Pn310=n. 2 to detectvibration. Vibration alarm can not detect all vibration. When vibration alarm occurred, an emergency stop deviceis needed to stop the machine. Customers have to provide the emergency stop device, and use this device whenvibration occurred.EncoderPosition control loop Speed control loopSpeedSpeed patternTimeMovereferenceErrorcounterPositionloopgain KpSpeedcontrolsectionKvTi+-CurrentcontrolsectionElectricpowerconvertingServomotorMPGPosition loopSERVOPACKHost controller(provided by user)Kp Position Loop Gain (Pn102Kv Speed Loop Gain Pn100Ti Speed Loop Integral TimeConstant (Pn101)Tf 1st Step 1st Torque Reference Filter TimeConstant (Pn401)+-+-SpeedreferenceSpeed loop Current loopTf |
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