User manual of EL8-EC***F AC Servo
229
Steps
Functions
Explanation
Inertia
ratio
identification
Online
Motor moves with command from controller, servo driver will
automatically calculate load-inertia ratio
Offline
Using servo driver inertia determining function, servo driver
can automatically calculate load-inertia ratio
Auto gain
adjustment
Auto gain
adjustment
Real time determining of mechanical load, gain value is set
accordingly.
1. One-click tuning (Can be realized using Motion
Studio. Auto tuning of gain and inertia according to
actual data)
2. Real time auto adjustment (Set by selecting
mechanical stiffness level, related gain parameters
will be automatically adjusted accordingly)
Manual gain
adjustment
Basic gain
On top of auto gain adjustment, manually adjust related
parameters so that machine can have better responsiveness
and following
Basic steps
1. Gain related parameters tuning under position mode
2. Gain related parameters tuning under velocity mode
3. Gain related parameters tuning under torque mode
Gain switching
Gain switching through internal data or external signal. Lower
vibration at stop, shorten tuning time, improve command
following.
Model following
control
Improve responsiveness, shorten positioning time (Only
available in position mode)
Command pulse
filter
Set filter for position, velocity and torque command pulse.
Gain
feedforward
Enable feedforward function to improve following behavior
Friction
compensation
Reduce the effect of mechanical friction
3
rd
gain
switching
Base on usual gain switching function. Can be set to switch
gain at stopping and reduce positioning time.
Vibration
suppression
Mechanical
resonance
Using notch filtering function to suppress mechanical
resonance.
End vibration
suppression
To suppress low frequency vibration of mechanical end
6.2 Inertia ratio identification
Inertia ratio = Total mechanical load rotational inertia / Electronic gear rotational inertia
Inertia ratio is an important parameter. Setting a suitable value can help with the precise
tuning of the servo system. Inertia ratio can be set manually and also be determined
automatically through servo driver
