SD710 Series Servo Drive Technical Manual Chapter 6 Adjustment
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6.5 Function adjustment
To adjust the servo gain, adjust the relevant gain parameters of the Servo Drive one by one based on an understanding
of the Servo Drive's composition and characteristics. In most cases, if there is a large change in one parameter, the other
gain parameters must be adjusted again. To confirm the response characteristics, prepare the relevant monitoring
waveforms with the relevant debugging tool.
The Servo Drive consists of a position, velocity, and current loop, and the more inward the loop, the more the response
characteristics need to be improved. Failure to observe this principle may result in poor responsiveness or vibration.
Since the current loop ensures adequate responsiveness, the customer does not have to make adjustments to the
relevant parameters.
By manually adjusting the servo gain of the set servo unit, the response characteristics of the servo unit can be improved.
For example, in position control, the positioning time can be shortened.
Please use manual adjustment in the following situations.
⚫
When automatic adjustments cannot be successfully carried out.
⚫
When there is a greater need to increase the servo gain than the result of automatic adjustment.
⚫
When the customer wants to determine the servo gain to inertia ratio by himself/herself.
Precautions
●
It is recommended that tuning be performed from the factory-set state of each parameter
of the Servo Drive gain.
●
Vibration may occur when adjusting the Servo Drive gain. It is recommended to turn on
the alarm parameter setting for detecting vibration to be active (Pn185.X=1).
6.5.1 Gain adjustment
Example of adjustment steps
Steps
Description
1
Adjust the torque command filter time parameter (Pn104) and set it to no vibration.
2
Increase the speed loop gain (Pn101) as much as possible to the extent that the machinery does
not vibrate, while decreasing the speed loop integration time parameter (Pn102).
3
Repeat steps 1 and 2 to reduce the already changed value by 10% to 20% amplitude.
4
For position control, the position loop gain (Pn103) is increased to the extent that the machinery
does not vibrate.
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