5-3
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in T
rouble
7
Supplement
• Pay extra attention to safety, when oscillation (abnormal noise and vibration) occurs,
shut off the main power, or turn to Servo-OFF.
Type
Function
Explanation
Pages
to refer
Automatic
adjustment
Real-time auto-gain tuning
Estimates the load inertia of the machine in real time, and automatically sets up
the optimum gain corresponding to this result.
P.5-4
Two-degree-of-freedom
control mode
In the two-degree-of-freedom control mode, command response and servo
rigidity can be independently set with improved responsiveness. This mode has
enhanced position and speed control functions.
P.5-11
Adaptive filter
Reduces the resonance vibration point by automatically setting up the notch
filter coefficient which removes the resonance component from the torque com
-
mand while estimating the resonance frequency from the vibrating component
which appears in the motor speed in actual operating condition.
P.5-27
Manual adjustment
Manual gain tuning (basic)
Execute the manual adjustment or fine-tuning when real-time auto-gain tuning
cannot be activated due to the limitation of operation or load condition, or when
you want to obtain an optimum response and stability under these conditions.
P.5-30
Basic procedure
Adjustment in position control mode
P.5-31
Adjustment in velocity control mode
P.5-32
Adjustment in torque control mode
P.5-32
Adjustment in full-closed control mode
P.5-33
Gain switching function
You can expect to reduce vibration at stopping and settling time and to improve
command compliance by switching the gains by internal data or external sig
-
nals.
P.5-34
Suppression of ma-
chine resonance
When the machine stiffness is low, vibration or noise may be generated due to
the distorted axis, hence you cannot set the higher gain. You can suppress the
resonance with two kinds of filter.
P.5-37
Manual gain tuning
(application)
You can obtain the higher performance while you are not satisfied with the
performance obtained with the basic adjustment, using the following application
functions.
P.5-41
Damping control
Damping control
P.5-41
Model-type damping filter
P.5-43
Feed forward function
Velocity feed forward function improves responsiveness during position control
and full closed control. Torque feed forward improves the response of velocity
control system.
P.5-47
Load variation
suppression function
Function which obtains both reducing motor speed variation and improving
stability by changing estimated disturbance torque and load
fluctuation
.
P.5-50
3rd gain switching
function
By using this function in addition to the normal gain switching function, the gain
can be changed at the moment of stop to further shorten the positioning time.
P.5-53
Friction torque
compensation
Offset load compensation and dynamic friction compensation are used to
reduce effects of mechanical friction.
P.5-55
Inertia ratio switching
function
This function can be used when selectable 2 inertia ratios are provided.
P.5-57
Hybrid vibration
damping function
This function, when used in full closed control mode, prevents vibration
resulting from torsion on motor and load.
P.5-59
Qudrant projecttion
suppression function
Control configuration can be switched to suppress quadrant projection
occurring during arc interpolation of 2 or more axes.
P.5-60
Two-degree-of-freedom
control mode
In the two-degree-of-freedom control mode, command response and servo
rigidity can be independently set with improved responsiveness. This mode has
enhanced position and speed control functions.
P.5-62
Two-stage torque filter
In addition to 1st and 2nd torque filters (Pr1.04 and Pr1.09), another torque
filter can be set.
P.5-67
1. Gain Adjustment
Outline
Remarks
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