Sigma-II Series SGM*H/SGDH USER'S MANUAL - Esco Drives ...

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9Adjustments9.1 Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-29.1.1 Servo Gain Adjustment Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-29.1.2 List of Servo Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - - - 9-39.2 Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-59.2.1 Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-59.2.2 Online Autotuning Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-69.2.3 Selecting the Online Autotuning Execution Method - - - - - - - - - - - - - - 9-79.2.4 Machine Rigidity Setting for Online Autotuning - - - - - - - - - - - - - - - - - 9-89.2.5 Method for Changing the Machine Rigidity Setting - - - - - - - - - - - - - - 9-99.2.6 Saving the Results of Online Autotuning - - - - - - - - - - - - - - - - - - - - 9-109.2.7 Procedure for Saving the Results of Online Autotuning - - - - - - - - - - 9-119.3 Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-129.3.1 Explanation of Servo Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-129.3.2 Servo Gain Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-139.3.3 Position Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-139.3.4 Speed Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-149.3.5 Speed Loop Integral Time Constant - - - - - - - - - - - - - - - - - - - - - - - - 9-149.4 Servo Gain Adjustment Functions - - - - - - - - - - - - - - - - - - - 9-159.4.1 Feed-forward Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-159.4.2 Torque Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-169.4.3 Speed Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-179.4.4 Proportional Control Operation (Proportional Operation Reference) - 9-189.4.5 Using the Mode Switch (P/PI Switching) - - - - - - - - - - - - - - - - - - - - 9-199.4.6 Setting the Speed Bias - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-229.4.7 Speed Feedback Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-229.4.8 Speed Feedback Compensation - - - - - - - - - - - - - - - - - - - - - - - - - - 9-239.4.9 Switching Gain Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-259.4.10 Torque Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-269.5 Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2899-1
9 Adjustments9.1.1 Servo Gain Adjustment Methods9.1 Autotuning9.1.1 Servo Gain Adjustment MethodsThe SERVOPACK has the servo gains to determine the servo response characteristics. The servo gains are set inthe parameters. The parameters are designated for each function as shown in 9.1.2 List of Servo AdjustmentFunctions.The servo gains are factory-set to stable values, and responsiveness can be increased depending on the actualmachine conditions. The following flowchart shows an overview procedure for adjusting the servo gains toreduce the positioning time for position control. Follow this flowchart to effectively adjust the servo gains. Forfunctions in bold lines in the flowchart, select the adjustment method according to the client’s intent using 9.1.2List of Servo Adjustment Functions.Start adjusting servo gain.Adjust using (1) Autotuning Functions.Results OK.Results OK?Results insufficient.Adjust using (2) Positioning Time Reduction Functions.Results OK.Vibration resultedResults OK?Results insufficient.Adjust using (3) Vibration Reduction Functions.Results OK.Results OK?Results insufficient.End servo gain adjustment.If the desired responsiveness cannot be achieved adjusting according to the servo gain adjustment methods, considerthe following possible causes.• Autotuning does not suit the operating conditions.Adjust the servo gains manually. Refer to 9.3 Manual Tuning.• The selection of settings for the positioning time reduction functions or vibration reduction functions arenot appropriate.Each function may not be effective for all machines due to machine characteristics or operating conditions.Use other positioning time reduction function or vibration reduction function.9-2
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YASKAWASeries SGMH/SGDHUSER'S MANUA
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• Quick access to your required i
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WARNING• Installation, disassembl
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• WiringCAUTION• Do not connect
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• Maintenance and InspectionCAUTI
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2.6.1 Special Options - - - - - - -
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3.16 Dimensional Drawings of SGMSH
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5 Specifications and Dimensional Dr
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6.2.1 Connecting an Encoder (CN2) a
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8.7.1 Setting Parameters - - - - -
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11.3.1 Utility Functions List - - -
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PURODUCT SERVICE1 Outline1.1.1 Chec
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1 Outline1.2.1 Servomotors1.2 Produ
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1 Outline1.2.2 SERVOPACKs(2) SGDH f
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1 Outline1.3.2 Three-phase, 200 V M
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1 Outline1.4.1 North American Safet
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2 Selections2.1.1 Model SGMAH (3000
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2 Selections2.1.2 Model SGMPH (3000
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2 Selections2.1.3 Model SGMGH (1500
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2 Selections2.1.4 Model SGMGH (1000
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2 Selections2.1.5 Model SGMSH (3000
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2 Selections2.1.6 Model SGMDH (2000
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2 Selections2.2.1 Support Tool for
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2 Selections2.2.2 Servomotor Capaci
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2 Selections2.5.1 Cables for SGMAH
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2 Selections2.5.1 Cables for SGMAH
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2 Selections2.5.2 Cables for SGMGH/
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2 Selections2.5.2 Cables for SGMGH/
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MODE/SETCHARGEDATA/POWER67534675346
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2 Selections2.6.1 Special OptionsNa
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2 Selections2.6.3 Noise Filters, Ma
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2 Selections2.6.4 Regenerative Resi
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φLBh7φSh6119.5(0.37)W3 Specificat
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φLBh7φSh617(0.67)9.5 (0.37)W3 Spe
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11 (0.43)W3 Specifications and Dime
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W3 Specifications and Dimensional D
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4 SERVOPACK Specifications and Dime
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MODE/SETCHARGEDATA/POWER4 SERVOPACK
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160 (6.30)(5) (0.20)149.5±0.5 (5.8
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YASKAWAMODE/SETCHARGEYASKAWA SERVOP
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POWERMODE/SETDATA/4 SERVOPACK Speci
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MODE/SETDATA/4 SERVOPACK Specificat
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MODE/SETCHANGEDATA/POWER4 SERVOPACK
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POWERMODE/SETDATA/4 SERVOPACK Speci
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POWERMODE/SET DATA/ BATTERY4 SERVOP
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6754675346754381 2890 1 281 29090X1
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6 Wiring6.1.1 Names and Functions o
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6 Wiring6.1.2 Wiring Main Circuit P
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6 Wiring6.1.3 Typical Main Circuit
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6 Wiring6.2.1 Connecting an Encoder
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6 Wiring6.3.1 Speed Control Mode6.3
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6 Wiring6.3.3 Torque Control Mode6.
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6 Wiring6.3.5 I/O Signal (CN1) Name
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6 Wiring6.3.6 Interface Circuit6.3.
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6 Wiring6.3.6 Interface Circuit(b)
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6 Wiring6.4.2 Wiring for Noise Cont
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6 Wiring6.4.2 Wiring for Noise Cont
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6 Wiring6.4.3 Installation Conditio
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6 Wiring6.4.4 Installation Conditio
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6 Wiring6.4.6 Extending Encoder Cab
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6 Wiring6.4.7 Operating Conditions
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6 Wiring6.4.8 DC Reactor for Harmon
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6 Wiring6.5.2 Connecting External R
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MODE/SETCHARGEYASKAWA SERVOPACKDATA
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7Digital Operator/Panel Operator7.1
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7.1 Functions on Digital Operator/P
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7.2 Operation in Utility Function M
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7.3 Operation in Parameter Setting
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7.4 Operation in Monitor Mode (Un)(
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7.4 Operation in Monitor Mode (Un)S
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8 Operation8.6 Operating Using Posi
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YASKAWAMODE/SETCHARGEYASKAWAMODE/SE
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MODE/SETYASKAWASERVOPACKSGDH-CHARGE
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8 Operation8.1.1 Trial Operation fo
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YASKAWASERVOPACKSGDH-MODE/SETCHARGE
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8 Operation8.1.4 Servomotor with Br
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8 Operation8.3.1 Setting the Servo
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8 Operation8.3.3 Setting the Overtr
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8 Operation8.3.4 Setting for Holdin
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8 Operation8.3.4 Setting for Holdin
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8 Operation8.3.6 Instantaneous Powe
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8 Operation8.4.1 Interface Circuits
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Page 514 and 515: 9.1 Autotuning9.1.2 List of Servo A
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10 Inspection, Maintenance, and Tro
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11Appendix11.1 Servomotor Capacity
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11.1 Servomotor Capacity Selection
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11.2 Connection to Host Controller1
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11.3 List of Parameters11.3.2 List
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11.3 List of ParametersParameterNo.
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11.3 List of Parameters11.3.3 Monit
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11.4 Parameter Recording TableParam
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IndexINDEXAabsolute encoder battery
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IndexRrack-mounted type - - - - - -
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IndexWWARN- - - - - - - - - - - - -
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Series SGMH/SGDHUSER'S MANUALIRUMA
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Sigma-II Series SGM*H/SGDH USER'S MANUAL - Esco Drives ...

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