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8.1
Overview and Flow of Tuning
Tuning is performed to optimize response by adjusting the servo gains in the SERVOPACK.
The servo gains are set using a combination of parameters, such as parameters for the speed
loop gain, position loop gain, filters, and moment of inertia ratio. These parameters influence
each other, so you must consider the balance between them.
The servo gains are set to stable settings by default. Use the various tuning functions to
increase the response even further for the conditions of your machine.
The basic tuning procedure is shown in the following flowchart. Make suitable adjustments
considering the conditions and operating requirements of your machine.
8.1.1
Tuning Function
The following table provides an overview of the tuning functions.
Tuning Functions
Moment of Inertia
Estimation
Custom Tuning
Anti-resonance
Control Adjustment
Vibration
Suppression
Manual Tuning
Start of Tuning
Initial Confirmations to Ensure Safe Tuning
8.3
Precautions to Ensure Safe Tuning
Estimating the Moment of Inertia
Perform custom tuning.
Continuous Vibration
Adjust anti-resonance control.
Residual Vibration When Positioning
Perform vibration suppression.
Results acceptable?
Manual Tuning
No
Results acceptable?
End
The moment of inertia ratio is calculated by operating the Servomotor a
few times.
The moment of inertia ratio that is calculated here is used in other tun-
ing functions.
The following parameters are adjusted with the reference input from the
host controller while the machine is in operation.
• Gains (e.g., position loop gain and speed loop gain)
• Filters (torque reference filter and notch filters)
• Anti-resonance control
This function effectively suppresses continuous vibration.
This function effectively suppresses residual vibration if it occurs when
positioning.
You can manually adjust the servo gains to adjust the response.
8.1 Overview and Flow of Tuning
Yes
No
Yes
Description
8.1.1 Tuning Function
End
Reference
page 8-8
page 8-15
8
page 8-24
page 8-28
page 8-32
8-3
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Table of Contents
Troubleshooting
