JS Automation YPV-040, Руководство пользователя

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Tuning procedure for the speed loop.
1. Set all the Acceleration/Deceleration Time settings (Ta, Td, Tsa, Tsd) to zeros in the
“
Speed
Parameter
”
menu.
2. Set the Torque Filter Time Constant (TQCA) to zero in the
“
Torque Parameter
”
menu.
3. Set the initial value of KVI as zero and use the default value (3000) for KVP in the
“
Speed
Parameter
”
menu.
4. Measure the I Monitor (torque monitoring signal, which can be selected in the
“
Common
Parameter
”
menu) with CH1 in the oscilloscope and adjust the magnitude of the speed command. The
speed command for the tuning procedure is of a step waveform and can be effectively generated by use of
the Motor Hold function (CN1-16).
During the whole tuning procedure, keep watching the I Monitor signal and adjust the magnitude of the
speed command accordingly so that the waveform of the I-Monitor signal is not saturated.
5. Measure the S Monitor (speed monitoring signal, which can be selected in the
“
Common Parameter
”
menu) with CH2 in the oscilloscope and the speed command (CN 1-1 or CN1-8) with CH3 in the
oscilloscope. Slowly adjust the KVP parameter in the
“
Speed Parameter
”
menu. The adjustment
should not stop until the rising slope of the S Monitor signal is close enough to the speed command and no
oscillation appears along the S Monitor trace.
The steady state error normally appears because the KVI parameter is zero during this step.
6. Slowly adjust the KVI parameter in the
“
Speed Parameter
”
menu with the default value (130) as a
first trial guess. The adjustment should not stop until the settling time of the S Monitor signal is as short as
possible while the overshoot of the S Monitor signal is less than 5 % (or 10%) and appears only once. No
sustained oscillation is allowed after this adjustment.
Note1. If the servomotor is installed in a ball screw driven machine bed, take caution of the travel limits
so that no collision may occur.
2. A well-tuned speed loop can guarantee the precision of machining and cut the job time as well. Make
sure not to operate a servo drive that causes the machine bed oscillatory due to de-tuned gains.
The overshoot is large due to high KPP or KVP. Try to reduce
KVP
or KPP.
The system is oscillatory due to high KVI. Try to reduce KVI.
The system is tuned properly.