Yaskawa Sigma II Series Servo System - Manual (Page 233)

Sigma II User’s Manual Chapter 6: Servo Adjustment
6 - 1
6 Servo Adjustment
This chapter describes the functions required for servo
adjustment. Find the required information by selecting the
section from the following table of contents.
6.1 Smooth Operation ................................................................................................ 6-2
6.1.1 Using the Soft Start Function...................................................................... 6-2
6.1.2 Smoothing................................................................................................... 6-3
6.1.3 Adjusting Gain............................................................................................ 6-4
6.1.4 Adjusting Offset.......................................................................................... 6-5
6.1.5 Setting the Torque Reference Filter Time Constant.................................... 6-5
6.1.6 Notch Filter ................................................................................................. 6-6
6.2 High-Speed Positioning ..................................................................................... 6-10
6.2.1 Setting Servo Gain .................................................................................... 6-10
6.2.2 Using Feed-Forward Control .................................................................... 6-12
6.2.3 Using Proportional Control....................................................................... 6-13
6.2.4 Setting Speed Bias .................................................................................... 6-14
6.2.5 Using Mode Switch .................................................................................. 6-15
6.2.6 Automatic Gain Switching Function (Applicable Only to SGDH amplifiers
with version # 33ooo or higher)................................................................ 6-19
6.2.7 Speed Feedback Compensation ................................................................ 6-22
6.3 Auto-Tuning....................................................................................................... 6-24
6.3.1 Online Auto-Tuning.................................................................................. 6-25
6.3.2 Mechanical Rigidity Settings for Online Auto-Tuning............................. 6-27
6.3.3 Saving Results of Online Auto-Tuning..................................................... 6-29
6.3.4 Parameters Related to Online Auto-Tuning.............................................. 6-31
6.4 Servo Gain Adjustments .................................................................................... 6-33
6.4.1 Servo Gain Parameters.............................................................................. 6-33
6.4.2 Basic Rules of Gain Adjustment............................................................... 6-33
6.4.3 Making Manual Adjustments.................................................................... 6-35
6.4.4 Gain Setting Reference Values ................................................................. 6-40
6.5 Analog Monitor.................................................................................................. 6-42