Notch Filter
Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.)
When you set this function to Auto Setting, vibration will be automatically detected during execution of auto-tuning with a host reference and the notch filter will be adjusted.
Set this function to Not Auto Setting only if you do not change the notch filter setting before executing advanced autotuning by reference.
Anti-Resonance Control Adjustment
This function reduces low vibration frequency, which the notch filter does not detect.
Usually, set this function to Auto Setting. (The anti-resonance control is factory-set to Auto Setting.)
When you set this function to Auto Setting, vibration will be automatically detected during autotuning with a host reference and anti-resonance control will be automatically adjusted and set.
Error Probable Cause Corrective Actions
The gain adjustment was not successfully completed.
Machine vibration is occurring or position-ing completion is not stable when the servo-motor is stopped.
• Increase the set value for PnACC.
• Change the setting of the mode selection from 2 to 3.
• If machine vibration occurs, suppress the vibration with the anti-resonance control adjustment function and the vibration sup-pression function.
The positioning was not completed within approximately 10 seconds after
positioning adjustment was completed.
The positioning completed width is too nar-row or proportional control (P control) is being used.
• Increase the setting of PnACC.
• Set 0 to V_PPI in the servo command out-put signals (SVCMD_IO).
Parameter Function When Enabled Classification
Pn460
n.0 Does not set the 1st notch filter automatically with the utility function.
Immediately Tuning n.1
[Factory setting] Sets the 1st notch filter automatically with the util-ity function.
n.0 Does not set the 2nd notch filter automatically with the utility function.
n.1
[Factory setting] Sets the 2nd notch filter automatically with the util-ity function.
Parameter Function When Enabled Classification
Pn160
n.0 Does not use the anti-resonance control automati-cally with the utility function.
Immediately Tuning n.1
[Factory setting] Uses the anti-resonance control automatically with the utility function.
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Vibration Suppression
The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100 Hz that is generated mainly when positioning if the machine stand vibrates.
Usually, set this function to Auto Setting. (The vibration suppression function is factory-set to Auto Setting.) When you set this function to Auto Setting, vibration will be automatically detected during autotuning with a host reference and vibration suppression will be automatically adjusted and set. Set this function to Not Auto Setting only if you do not change the setting for vibration suppression before executing autotuning with a host reference.
Note: This function uses model following control. Therefore, the function can be executed only if the mode selection is set to 2 or 3.
Friction Compensation
This function compensates for changes in the following conditions.
• Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine
• Changes in the friction resistance resulting from variations in the machine assembly
• Changes in the friction resistance due to aging
Conditions to which friction compensation is applicable depend on the mode.
*1. The friction compensation function is always enabled regardless of the friction compensation setting in Pn408.3.
* 2. For details on Pn408.3, refer to 8.8.2 (1) Required Parameter Settings.
Feedforward
If Model Following Control Related Switch (Pn140) is set to the factory setting and the mode selection is set to 2 or 3 when autotuning is executed, the feedforward gain (PnAC8), speed feedforward (VFF) input, and torque feedforward (TFF) input will be disabled.
Set Pn140.3 to 1 if model following control is used together with the speed feedforward (VFF) input and torque feedforward (TFF) input from the host controller.
Refer to the Σ-V-MD Series User’s Manual MECHATROLINK-III Standard Servo Profile Commands (Manual No.: SIEP S800001 03) for information on the speed feedforward (VFF) input and torque feedforward (TFF) input.
Parameter Function When Enabled Classification
Pn140
n.0 Does not use the vibration suppression function automatically.
Immediately Tuning n.1
[Factory setting] Uses the vibration suppression function automati-cally.
Mode Selection Setting Set to 1. Set to 2.*1 Set to 3.*1
Friction Compensation According to Pn408.3.*2 Adjusted with the friction compensation function.
Parameter Function When Enabled Classification
Pn140
n.0
[Factory setting] Model following control is not used together with the speed/torque feedforward input.
Immediately Tuning n.1 Model following control is used together with the
speed/torque feedforward input.
• Model following control is used to make optimum feedforward settings in the SERVO-PACK when model following control is used with the feedforward function. Therefore, model following control is not normally used together with either the speed feedforward (VFF) input or torque feedforward (TFF) input from the host controller. However, model following control can be used with the speed feedforward (VFF) input or torque feedfor-ward (TFF) input if required. An improper feedforfeedfor-ward input may result in overshooting.
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Adjustments
8.4.3 Related Parameters
The following parameters are either referenced or automatically changed during execution of advanced auto-tuning by reference.
Do not change the settings of these parameters from the SigmaWin+ during execution of advanced autotuning by reference.
Parameter Name Automatic changes
PnAC2 Speed Loop Gain Yes
PnAC4 Speed Loop Integral Time Constant Yes
PnAC6 Position Loop Gain Yes
Pn103 Moment of Inertia Ratio No
Pn121 Friction Compensation Gain Yes
Pn123 Friction Compensation Coefficient Yes Pn124 Friction Compensation Frequency Correction No Pn125 Friction Compensation Gain Correction Yes Pn401 Torque Reference Filter Time Constant Yes
Pn408 Torque Related Function Switch Yes
Pn409 1st Notch Filter Frequency Yes
Pn40A 1st Notch Filter Q Value Yes
Pn40C 2nd Notch Filter Frequency Yes
Pn40D 2nd Notch Filter Q Value Yes
Pn140 Model Following Control Related Switch Yes
Pn141 Model Following Control Gain Yes
Pn142 Model Following Control Gain Compensation Yes Pn143 Model Following Control Bias (Forward Direction) Yes Pn144 Model Following Control Bias (Reverse Direction) Yes Pn145 Vibration Suppression 1 Frequency A Yes Pn146 Vibration Suppression 1 Frequency B Yes Pn147 Model Following Control Speed Feedforward
Compensa-tion Yes
Pn160 Anti-Resonance Control Related Switch Yes
Pn161 Anti-Resonance Frequency Yes
Pn163 Anti-Resonance Damping Gain Yes
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8.5 One-parameter Tuning
Adjustments with one-parameter tuning are described below.
8.5.1 One-parameter Tuning
One-parameter tuning is used to manually make tuning level adjustments during operation with a position ref-erence or speed refref-erence input from the host controller.
The following are tuned automatically.
• Gains (e.g., position loop gain and speed loop gain)
• Filters (torque reference filter and notch filter)
• Friction compensation
• Anti-resonance control
One-parameter tuning allows you to automatically set related servo gain settings to balanced conditions by adjusting one or two tuning levels.
Refer to8.5.4 Related Parameters for parameters used for adjustments.
For one-parameter tuning, execute custom tuning from the SigmaWin+.
Supplemental Information
Perform one-parameter tuning if satisfactory response characteristics is not obtained with advanced autotun-ing or advanced autotunautotun-ing by reference.
To fine-tune each servo gain after one-parameter tuning, refer to 8.8 Additional Adjustment Function.
Preparation
The following conditions must be met to perform one-parameter tuning.
• The tuning-less function must be disabled (Pn170.0 = 0).
• The tuning mode must be set to 0 or 1 when performing speed control.
• The write prohibited setting parameter must be set to Write permitted.
8.5.2 One-parameter Tuning Procedure
The following procedure is used for one-parameter tuning.
There are the following two operation procedures depending on the tuning mode that you use.
When the tuning mode is set to 0 or 1, model following control will be disabled and one-parameter tuning will be used as the tuning method for applications other than positioning.
When the tuning mode is set to 2 or 3, model following control will be enabled and one-parameter tuning will be used as the tuning method for positioning.
This section provides the procedure for when the tuning mode is set to 0 (set servo gains with priority given to stability) or 2 (set servo gains with priority given to positioning application).
To execute one-parameter tuning, use custom tuning from the SigmaWin+.
CAUTION
• Vibration or overshooting may occur during adjustment. To ensure safety, perform one-parameter tuning in a state where the SERVOPACK can come to an emergency stop at any time.
CAUTION
• If you use phase control with an MP2000-series Controller, set the tuning mode to 0 or 1. If the tuning mode is set to 2 or 3, correct phase control may not be possible.
8
Adjustments