YASKAWA SIEMENS CNC Series, Maintenance Manual, Serviceman Handbook

Page: 261 / 373

14.2 Servo control
14-51
Adjustment procedures
1. Carry out analog monitor related setting.
Such data that are monitored with measuring instruments, such as high coder, are to be
treated as torque reference and vibration-damping signal.
For this reason, set MD3003 (Pn003) digit 0 and digit 2 to "2" (or "E") and "E" (or "2")
respectively.
2. Measure torque reference vibration waveform that was obtained with instruments such
as a high coder.
3. Read out the frequency of the vibration waveform, and assign 1/2 of the frequency to
MD3071 (Pn129).
4. Determine the values of MD3051 (Pn115) and MD3052 (Pn116) using the following
equations so that the phase difference becomes 90 degrees between vibration-damping
signal and torque reference.
• MD3051 = (2
×
1000/(2
π
f))
×
100
• MD3052 = Pn115
5. Set MD3051 (Pn115) and MD3052 (Pn116) to the values calculated in the procedure 4.
6. Turn off the Servo. (Enable vibration-damping function.)
7. After turning on the servo again, check if phase difference is 90 degrees between high
coder torque reference and vibration-damping signal.
8. Increase the value of MD3050 (Pn114) gradually from 0. (The value starts to take effect
when it becomes about 80.)
9. Amplitudes of both torque reference and vibration-damping signal become smaller if
the vibration-damping function works.
If there is no change in the amplitudes even when the MD3050 (Pn114) is increased to about 200, the
vibration-damping function may not work. If this is the case, set MD3050 (Pn114) to "0" to disable the
vibration-damping function and use another vibration suppression function instead.
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