Servo Tuning Functions And Basic Adjustment Procedure; Servo Tuning Functions - Sanyo Denki SANMOTION R Instruction Manual

6.Adjustments
6.1

Servo tuning functions and basic adjustment procedure

To operate the servo motor (and machine) using the servo amplifier, adjustments of the servo gain
and its control system is necessary. Generally, the higher setting value of the servo gain increases
the machine response. However, if the servo gain is too high, in a lower rigidity machine, vibration
may result and the machine response will not increase. The servo gain and its control system need
to be appropriately adjusted according to the operating servo motor and the mechanical system and
this adjustment method is called Servo tuning.
Following is an explanation of the Servo tuning procedure:

1) Servo tuning functions

Servo gain tuning procedure
■
Servo gain tuning is performed as follows:
Automatic Tuning
◆
Servo amplifier estimates load inertia moment ratio during operation, and then automatically adjusts
servo gain and filter frequency on a real-time basis. This is the most basic tuning method.
Automatic Tuning [JRAT Manual Setting]
◆
The servo amplifier does not estimate the Load inertia moment ratio. Servo gain and filter frequency
are adjusted automatically corresponding to the load inertia moment ratio and the responses that
are already set. This method is used when the Load inertia moment ratio could not be estimated
correctly with auto-tuning.
Manual Tuning
◆
Set all parameters, such as Load inertia moment ratio, servo gain, filter frequency, etc. manually.
This method is used when characteristics during auto-tuning are insufficient.
Vibration suppression of mechanical system
■
◆ Automatic tuning of FF Vibration Suppression Frequency
This is used to obtain the vibration frequency when FF vibration suppression control is initiated.
Automatic tuning of notch filter
◆
This method is used for suppressing high frequency resonance caused by coupling and/or rigidity of
the mechanical system using a notch filter.
6-1
Selection of tuning method