1.
Remove the safety function's jumper connector from the safety connector (CN8).2.
Connect the safety function device to the safety connector (CN8).Note: If you do not connect a safety function device, leave the safety function's jumper connector connected to the safety connector (CN8). If the SERVOPACK is used without the safety function's jumper connector connected to CN8, no current will be supplied to the servomotor and no motor torque will be output. In this case, the SERVOPACK will enter a hard wire base block state.
4.9.6 Precautions for Safety Functions
C N 1
C N 8
C N 2
C N 8
C N 2
Grab the safety function's jumper connector with the tips of your thumb and fingers and remove it.
Enlarged View
Safety function’s jumper connector
WARNING
• To check that the HWBB function satisfies the safety requirements of the system, be sure to conduct a risk assessment of the system.
Incorrect use of the machine may cause injury.
• The servomotor rotates if there is external force (e.g., gravity in a vertical axis) when the HWBB function is operating. Therefore, use an appropriate device independently, such as a mechanical brake, that satisfies safety requirements.
Incorrect use of the machine may cause injury.
• While the HWBB function is operating, the motor may rotate within an electric angle of 180° or less as a result of a SERVOPACK failure. Use the HWBB function for applications only after checking that the rota-tion of the motor will not result in a dangerous condirota-tion.
Incorrect use of the machine may cause injury.
• The dynamic brake and the brake signal are not safety-related parts of a control system. Be sure to design the system that these failures will not cause a dangerous condition when the HWBB function operates.
Incorrect use of the machine may cause injury.
• Connect devices meeting safety standards for the signals for safety functions.
Incorrect use of the machine may cause injury.
• The HWBB function does not shut off the power to the SERVOPACK or electrically isolate it. Take mea-sures to shut off the power to the SERVOPACK when performing maintenance on it.
Failure to observe this warning may cause an electric shock.
5
Adjustments
5
Adjustments
5.1 Type of Adjustments and Basic Adjustment Procedure . . . 5-3
5.1.1 Adjustments . . . 5-3 5.1.2 Basic Adjustment Procedure . . . 5-4 5.1.3 Monitoring Operation during Adjustment . . . 5-5 5.1.4 Safety Precautions on Adjustment of Servo Gains . . . 5-8
5.2 Tuning-less Function . . . 5-11
5.2.1 Tuning-less Function . . . 5-11 5.2.2 Tuning-less Levels Setting (Fn200) Procedure . . . 5-14 5.2.3 Related Parameters . . . 5-16
5.3 Advanced Autotuning (Fn201) . . . 5-17
5.3.1 Advanced Autotuning . . . 5-17 5.3.2 Advanced Autotuning Procedure . . . 5-20 5.3.3 Related Parameters . . . 5-26
5.4 Advanced Autotuning by Reference (Fn202) . . . 5-27
5.4.1 Advanced Autotuning by Reference . . . 5-27 5.4.2 Advanced Autotuning by Reference Procedure . . . 5-30 5.4.3 Related Parameters . . . 5-34
5.5 One-parameter Tuning (Fn203) . . . 5-35
5.5.1 One-parameter Tuning . . . 5-35 5.5.2 One-parameter Tuning Procedure . . . 5-37 5.5.3 One-parameter Tuning Example . . . 5-43 5.5.4 Related Parameters . . . 5-45
5.6 Anti-Resonance Control Adjustment Function (Fn204) . . . 5-46
5.6.1 Anti-Resonance Control Adjustment Function . . . 5-46 5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure . . . 5-47 5.6.3 Related Parameters . . . 5-51
5.7 Vibration Suppression Function (Fn205) . . . 5-52
5.7.1 Vibration Suppression Function . . . 5-52 5.7.2 Vibration Suppression Function Operating Procedure . . . 5-53 5.7.3 Related Parameters . . . 5-56
5 Adjustments
5.8 Additional Adjustment Function . . . 5-57
5.8.1 Switching Gain Settings . . . 5-57 5.8.2 Manual Adjustment of Friction Compensation . . . 5-61 5.8.3 Current Control Mode Selection Function . . . 5-63 5.8.4 Current Gain Level Setting . . . 5-63 5.8.5 Speed Detection Method Selection . . . 5-63 5.8.6 Backlash Compensation Function . . . 5-64
5.9 Compatible Adjustment Function . . . 5-70
5.9.1 Feedforward Reference . . . 5-70 5.9.2 Mode Switch (P/PI Switching) . . . 5-71 5.9.3 Torque Reference Filter . . . 5-73 5.9.4 Position Integral . . . . 5-75
5.1 Type of Adjustments and Basic Adjustment Procedure
5
Adjustments
5.1 Type of Adjustments and Basic Adjustment Procedure
This section describes type of adjustments and the basic adjustment procedure.
5.1.1 Adjustments
Adjustments (tuning) are performed to optimize the responsiveness of the SERVOPACK.
The responsiveness is determined by the servo gain that is set in the SERVOPACK.
The servo gain is set using a combination of parameters, such as speed loop gain, position loop gain, filters, friction compensation, and moment of inertia ratio. These parameters influence each other. Therefore, the servo gain must be set considering the balance between the set values.
Generally, the responsiveness of a machine with high rigidity can be improved by increasing the servo gain. If the servo gain of a machine with low rigidity is increased, however, the machine will vibrate and the respon-siveness may not be improved. In such case, it is possible to suppress the vibration with a variety of vibration suppression functions in the SERVOPACK.
The servo gains are factory-set to appropriate values for stable operation. The following utility function can be used to adjust the servo gain to increase the responsiveness of the machine in accordance with the actual con-ditions. With this function, parameters related to adjustment above will be adjusted automatically and the need to adjust them individually will be eliminated.
This section describes the following utility adjustment functions.
Utility Function for
Adjust-ment Outline Applicable Control
Method Tuning-less
Levels Setting (Fn200)
This function is enabled when the factory settings are used. This function can be used to obtain a stable response regardless of the
type of machine or changes in the load. Speed and Position
Advanced Autotuning (Fn201)
The following parameters are automatically adjusted using internal references in the SERVOPACK during automatic operation.
• Moment of inertia ratio
• Gains (position loop gain, speed loop gain, etc.)
• Filters (torque reference filter, notch filter)
• Friction compensation
• Anti-resonance control adjustment function
• Vibration suppression function
Speed and Position
Advanced Autotuning by Reference (Fn202)
The following parameters are automatically adjusted with the posi-tion reference input from the host controller while the machine is in operation.
• Gains (position loop gain, speed loop gain, etc.)
• Filters (torque reference filter, notch filter)
• Friction compensation
• Anti-resonance control adjustment function
• Vibration suppression function
Position
One-parameter Tuning (Fn203)
The following parameters are manually adjusted with the position or speed reference input from the host controller while the machine is in operation.
• Gains (position loop gain, speed loop gain, etc.)
• Filters (torque reference filter, notch filter)
• Friction compensation
• Anti-resonance control adjustment function
Speed and Position
Anti-Resonance Control Adjustment
Function (Fn204) This function effectively suppresses continuous vibration. Speed and Position Vibration Suppression
Function (Fn205) This function effectively suppresses residual vibration if it occurs
when positioning. Position
5 Adjustments
5.1.2 Basic Adjustment Procedure
5.1.2 Basic Adjustment Procedure
The basic adjustment procedure is shown in the following flowchart. Make suitable adjustments considering the conditions and operating requirements of the machine.
Start adjusting servo gain.
(2)
Completed.
Completed.
(1) Adjust using Tuning-less Function.
Runs the servomotor without any adjustments.
(3)
(4)
Results OK?
Results OK?
Results OK?
Results OK?
Yes
Yes
Completed.
Yes
No
No No No
Results OK? Yes Completed.
No Adjust using Advanced Autotuning.
Adjust using Advanced Autotuning by Reference.
Automatically adjusts gains and filters with user reference inputs.
Adjust using One-parameter Tuning.
Manually adjusts gains and filters.
Position loop gain, speed loop gain, filters, and friction compensation adjustments are available.
Continuous vibration occurs.
Reduce the vibration using Anti-resonance Control Adjustment Function.
Residual vibration occurs at positioning.
Reduce the vibration using Vibration Suppression Function.
Refer to 5.2 Tuning-less Function.
Automatically adjusts the moment of inertia ratio, gains, and filters with internal references in the SERVOPACK.
Refer to 5.3 Advanced Autotuning (Fn201).
Refer to 5.4 Advanced Autotuning by Reference (Fn202).
Refer to 5.5 One-parameter Tuning (Fn203).
Refer to 5.6 Anti-Resonance Control Adjustment Function (Fn204).
Refer to 5.7 Vibration Suppression Function (Fn205).
5.1 Type of Adjustments and Basic Adjustment Procedure
5
Adjustments
5.1.3 Monitoring Operation during Adjustment
Check the operating status of the machine and signal waveform when adjusting the servo gain. Connect a mea-suring instrument, such as a memory recorder, to connector CN5 analog monitor connector on the SERVO-PACK to monitor analog signal waveform.
The settings and parameters for monitoring analog signals are described in the following sections.