(2) Operating Procedure
9. To save the settings, click Writing into the Motor
A warning message will appear
10.
Click OK.7.6.4 Absolute Encoder Origin Offset
If using the absolute encoder, the positions of the encoder and the offset of the machine coordinate system (APOS) can be set. Use PnA46 to make the setting. After the SENS_ON command is received by MECHA-TROLINK communications, this parameter will be enabled.
<Example>
If the encoder position (X) is set at the origin of the machine coordinate system (0), PnA46 = X.
PnA46
Absolute Encoder Origin Offset
Classification Setting Range Setting Unit Factory Setting When Enabled
-1073741823 to
1073741823 1 reference unit 0 Immediately Setup
Position
Encoder position: Origin
Origin
Machine coordinate system position (APOS) Encoder position
Encoder position PnA46
8
Adjustments
8
Adjustments
8.1 Type of Adjustments and Basic Adjustment Procedure . . . 8-3
8.1.1 Adjustments . . . 8-3 8.1.2 Basic Adjustment Procedure . . . 8-4 8.1.3 Monitoring Operation during Adjustment . . . 8-5 8.1.4 Safety Precautions on Adjustment of Servo Gains . . . 8-12
8.2 Tuning-less Function . . . 8-14
8.2.1 Tuning-less Function . . . 8-14 8.2.2 Tuning-less Levels Setting Procedure . . . 8-16 8.2.3 Related Parameters . . . 8-19
8.3 Advanced Autotuning . . . 8-20
8.3.1 Advanced Autotuning . . . 8-20 8.3.2 Advanced Autotuning Procedure . . . 8-22 8.3.3 Related Parameters . . . 8-36
8.4 Advanced Autotuning by Reference . . . 8-37
8.4.1 Advanced Autotuning by Reference . . . 8-37 8.4.2 Advanced Autotuning by Reference Procedure . . . 8-39 8.4.3 Related Parameters . . . 8-45
8.5 One-parameter Tuning . . . 8-46
8.5.1 One-parameter Tuning . . . 8-46 8.5.2 One-parameter Tuning Procedure . . . 8-46 8.5.3 One-parameter Tuning Example . . . 8-59 8.5.4 Related Parameters . . . 8-60
8.6 Anti-Resonance Control Adjustment Function . . . 8-61
8.6.1 Anti-Resonance Control Adjustment Function . . . 8-61 8.6.2 Anti-Resonance Control Adjustment Function Operating Procedure . . . 8-62 8.6.3 Related Parameters . . . 8-69
8.7 Vibration Suppression Function . . . 8-70
8.7.1 Vibration Suppression Function . . . 8-70 8.7.2 Vibration Suppression Function Operating Procedure . . . 8-71 8.7.3 Related Parameters . . . 8-76
8-2
8.8 Additional Adjustment Function . . . 8-77
8.8.1 Switching Gain Settings . . . 8-77 8.8.2 Manual Adjustment of Friction Compensation . . . 8-81 8.8.3 Current Gain Level Setting . . . 8-83 8.8.4 Speed Detection Method Selection . . . 8-83
8.9 Compatible Adjustment Function . . . 8-84
8.9.1 Feedforward Reference . . . 8-84 8.9.2 Mode Switch (P/PI Switching) . . . 8-85 8.9.3 Torque Reference Filter . . . 8-87
8
Adjustments
8.1 Type of Adjustments and Basic Adjustment Procedure
This section describes type of adjustments and the basic adjustment procedure.
8.1.1 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
This function is enabled when the factory settings are used. This function can be used to obtain a stable response regardless of the type of machine or changes in the load.
Speed and Position
Advanced Autotuning
You can automatically adjust the following from the Sig-maWin+ by executing moment of inertia (mass) identifi-cation and autotuning without a host reference.
• 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
After you set the moment of inertia ratio, you can auto-matically adjust the following from the SigmaWin+ by executing autotuning with a host reference.
• 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
You can adjust the following by executing custom tuning from the SigmaWin+.
• 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 This function effectively suppresses continuous
vibra-tion. Speed and Position
Vibration Suppression
Function This function effectively suppresses residual vibration if
it occurs when positioning. Position
8-4
8.1.2 Basic Adjustment Procedure
The basic adjustment procedure is shown in the following flowchart. Make suitable adjustments considering the conditions and operating requirements of the machine
Completed.
Start adjusting servo gain.
(2) Adjust using Advanced Autotuning.
Execute moment of inertia (mass) identification and autotuning without a host reference from the SigmaWin+.
Refer to 8.3 Advanced Autotuning.
(3) Adjust using Advanced Autotuning by Reference.
Execute autotuning with a host reference from the SigmaWin+.
Refer to 8.4 Advanced Autotuning by Reference.
Results OK? Yes
Results OK? Yes
Completed.
No
No
Results OK?
No
Completed.
Yes
Completed.
(1) Adjust using Tuning-less Function.
Runs the servomotor without any adjustments.
Refer to 8.2 Tuning-less Function.
Results OK? Yes
No
(4)Adjust using One-parameter Tuning.
Execute custom tuning from the SigmaWin+.
Refer to 8.5 One-parameter Tuning.
Continuous vibration occurs.
Reduce the vibration using Anti-resonance Control Adjustment Function.
Refer to 8.6 Anti-Resonance Control Adjustment Function.
Residual vibration occurs at positioning.
Reduce the vibration using Vibration Suppression Function.
Refer to 8.7 Vibration Suppression Function.
Results OK? Yes
No
Completed.
8
Adjustments
8.1.3 Monitoring Operation during Adjustment
While adjusting the servo gain, always monitor the operating status of the machine and the signal waveform.
Use data tracing from the SigmaWin+ to monitor signal waveforms from the SERVOPACK.
This section describes data tracing from the SigmaWin+.
Refer to the SigmaWin+ Online Manual for details.