Yaskawa SGDB Manual do Utilizador Página 129
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3.6 Minimizing Positioning Time
117
3.6 Minimizing Positioning Time
This section describes how to minimize positioning time.
3.6.1 Using Autotuning Function
If speed loop gain and position loop gain for the servo system are not set properly, posi-
tioning may become slow. Techniques and experience are required to set these servo
gain values according to machine configuration and machine rigidity.
Σ-series SERVOPACKs have an autotuning function that automatically measures ma-
chine characteristics and sets the necessary servo gain values. With this function, even
first-time servo users can easily perform tuning for servo gain. Servo gain values are set
in parameters.
The following parameters can be automatically set by the autotuning function.
Parameter Meaning
Cn-04 Speed loop gain
Cn-05 Speed loop integration time constant
Cn-1A Position loop gain
For details of how to perform autotuning, refer to Section 4.2.3 Autotuning
3.6.2 Setting Servo Gain
Check and reset the servo gain when:
• Automatically set servo gain values need to be checked after autotuning.
• Each servo gain value checked as described above is to be directly set for another
SERVOPACK.
• Response performance needs to be further enhanced after autotuning, or servo gain
values need to be reset for a system with lower response performance.
3
- AC Servomotors and Driver 1
- SGDB Servopack 1
- NOTES FOR SAFE OPERATION 3
- Manual Contents 6
- Manual Structure 6
- Basic Terms 7
- Visual Aids 7
- CONTENTS 10
- FOR FIRST-TIME USERS OF AC 13
- 1.1 Servo Mechanisms 14
- 3) Servo control system 16
- 1.2 Servo Configuration 17
- 1.3 Features of 23
- -Series Servos 23
- BASIC USES OF Σ-SERIES 27
- PRODUCTS 27
- 2.1 Precautions 28
- 2.2 Installation 30
- SGM S − 10 A 6 A 31
- SGM G − 05 A 2 A S A R 32
- SGDB − 10 A D S − 34
- Motor Capacity (kW) 35
- Anticorrosive paint is 36
- Shaft end 38
- Ventilation 39
- 2.3 Connection and Wiring 42
- resistor 43
- Power supply 47
- Speed/Torque 48
- Yaskawa SERVOPACK SGDB-VVADV 49
- Position 49
- 2.4 Conducting a Test Run 52
- Automatic Adjustment 57
- Reference 59
- SGDB-jjADj 60
- APPLICATIONS OF Σ-SERIES 63
- Before Reading this Chapter 65
- → Input P-OT 1CN-42 68
- → Input N-OT 1CN-43 68
- Overtravel 69
- Stop mode After stop 69
- 3.1.3 Restricting Torque 71
- Output → /CLT 1CN-*1 72
- → Input /P-CL 1CN-45 74
- → Input /N-CL 1CN-46 74
- → Input PULS 1CN-7 82
- → Input /PULS 1CN-8 82
- → Input SIGN 1CN-11 82
- → Input /SIGN 1CN-12 82
- → Input CLR 1CN-15 84
- → Input /CLR 1CN-14 84
- 3.2.3 Using Encoder Outputs 85
- Output Phase Form 87
- Preset value: 16 88
- 1 revolution 88
- → Input +24VIN 1CN-47 89
- 3.2.5 Using Electronic Gear 91
- Ball Screw 94
- Disc Table 94
- Belt & Pulley 94
- Setting: 0 95
- For Speed/Torque Control 95
- 3.2.7 Using Torque Control 100
- Motor speed 101
- Speed limit range 101
- → Input T-REF 1CN-9 102
- → Input SG 1CN-10 102
- → Input SG 1CN-6 103
- → Input V-REF 1CN-5 103
- → Input /P-CON 1CN-41 104
- Output → TRQ-M 1CN-16 111
- Output → VTG-M 1CN-17 111
- 3.3.1 Setting Parameters 112
- 3.3.2 Setting the Jog Speed 113
- 3.3.4 Setting the Motor Type 115
- 3.4.1 Adjusting Offset 117
- 3.4.2 Using Dynamic Brake 118
- 3.4.3 Using Zero-Clamp 119
- 3.4.4 Using Holding Brake 120
- Output → /BK 122
- 3.4 Setting Stop Mode 123
- 3.5.3 Adjusting Gain 126
- 3.5.4 Adjusting Offset 127
- 3.6.2 Setting Servo Gain 129
- the motor 132
- 3.6.6 Using Mode Switch 133
- Increase speed loop gain 135
- Suppress the occurrence 135
- Bit D Bit C 137
- 3.6.6 Using Mode Switch cont 138
- Bit D Bit C Bit B 138
- Output → ALM+ 1CN-31 139
- Output → ALM− 1CN-32 139
- Output → ALO1 1CN-37 140
- Output → ALO2 1CN-38 140
- Output → ALO3 1CN-39 140
- Output → SG 1CN-1 140
- → Input /ALMRST 1CN-44 142
- → Input /S-ON 1CN-40 142
- SGDB SERVOPACK 143
- I/O power supply 143
- Output → /COIN 1CN-25 144
- Output → /V-CMP 1CN-25 146
- Output → /TGON 148
- Output → /OLWRN 150
- Output → OL 150
- Cn-2D=j5j 151
- Output → /S-RDY 152
- 3.7.8 Handling of Power Loss 153
- 3.8 Special Wiring 154
- Noise filter 155
- Note Wire the SERVOPACK 161
- Three-phase 163
- 200-230 VAC 163
- SERVOPACK 163
- Regenerative resistor unit 163
- Error detection 172
- Only the absolute 176
- At rated load 177
- J SERVOPACK Connectors 178
- [SGM and SGMP series] 179
- [SGMG, SGMD and SGMS series] 181
- 17JE-23090-02 187
- (manufactured by Daiichi 187
- Denshi Kogyo K.K.) 187
- USING THE DIGITAL OPERATOR 188
- 4.1 Basic Operations 189
- Hand-held Digital Operator 190
- 4.1.3 Resetting Servo Alarms 191
- automatic 192
- For Position Control 194
- For Torque Control 196
- JUSP-OP02A-1 198
- JUSP-OP03A 201
- J Monitor Mode Displays 203
- 4.2 Using the Functions 205
- MODE/SET 206
- J Alarm Display Contents 207
- 4 . 2 Using the Functions 208
- Digital Operator 208
- 4.2.3 Autotuning 212
- Automatic Adjustment cont 219
- Automatic Adjustment Mode 219
- For JUSP-OP02A-1 219
- The motor rotation stops 219
- automatic ad 219
- automatic adjust 220
- is dis 222
- manual adjust 224
- (2)(1) (3) (4) 226
- Software Version Display 227
- Software 227
- manual adjustment 230
- SERVO SELECTION AND 231
- DATA SHEETS 231
- 5.1.1 Selecting a Servomotor 233
- 90 2A BA S 234
- *2 Encoder specification 237
- SGMP- 15 A 3 1 2 238
- SGDB- 03 A D 243
- 5.2 SGM Servomotor 247
- Servomotor SGMG 248
- 5.2SGM Servomotor 249
- A: Continuous Duty Zone 250
- B: Intermittent Duty Zone 250
- Configuration 254
- (lb·in/%) 257
- Characteristics 271
- A: Continuous Duty 276
- Vertical 280
- Horizontal shaft 280
- 5.2.3 Option Specifications 282
- A : Straight without Key 283
- SGMj − jjjjjjj 285
- J Lead Specifications 286
- • Servomotor end 288
- • Encoder end 288
- ¡ Encoder plug 291
- 5.3.1 Combined Specifications 292
- Feedback 295
- 5.3.5 Load Inertia 300
- 5.3.6 Overhanging Loads 301
- MTG Holes 308
- (0.0008) 308
- (0.0016) 308
- (ø0.0016) 308
- • 5.5 to 15kW 311
- /Z (C) channel output 317
- • 0.5 to 4.4kW 318
- • Flange-mounted type 328
- Detailed View 333
- ), without brake 355
- • Foot-mounted type 355
- (inches) 358
- • Frange-mounted Type 360
- Shaft center 383
- 143 MAX. (5.63 MAX) 396
- Nameplate 400
- • IP67-based Connectors 406
- Approx. Mass: 4 kg (8.82 lb) 411
- Dimensions in mm (inches) 411
- Approx. Mass: 8 kg (17.63 lb) 413
- RST r t PNBUVW 413
- WARNING! 414
- SGDB-44AD 419
- Detailed View of Installation 420
- SGDB-1AAD 421
- -P, -1EAD 421
- • JUSP-OP03A (Mount Type) 422
- What is motor 425
- Motor capacity is 425
- 5.5.2 Order List 434
- (Purchase Separately) 436
- 5.5.2 Order List cont 440
- Connector 1CN only x 1 443
- MCCB or fuse 454
- 5.6.2 Motor Cables 456
- 5.6.3 Connector 457
- 5.6.3 Connector cont 458
- Straight Plug MS3106A 458
- Straight Plug MS3106B 458
- L-shaped Plug MS3108B 458
- Standard Environment 460
- MS3106B Straight Plug Shell 461
- Dimensions are mm (inches) 461
- MS3108B L-Plug Shell 461
- MS3106A Straight Plug Shell 462
- • When using Motor with Brake 463
- 3/16-18U 468
- 7/16-18U 468
- Positioning Key 469
- End Bell 470
- End BellPlug 470
- F (Clamped Range) 471
- • Motor With Brake 473
- J For SGMP-15A Type Only 473
- • Motor Without Brake 473
- Connector Type A B C 474
- 5.6.4 Brake 476
- Power Supply 476
- AC Input 477
- 100V 200V 477
- 5.6.5 Encoder Cables 479
- J For the SGM and SGMP Types 485
- • Lithium Battery: ER 6 V C3 490
- • Nominal Voltage: 3.6 V 490
- • Standard Capacity: 2000 mAh 490
- 5.6.7 1CN Connector 491
- 5.6.7 1CN Connector cont 492
- For 10350-52A0 492
- 39.0 (1.54) 492
- Connector 494
- Terminal 494
- 5.6.10 Circuit Breaker 496
- 5.6.11 Noise Filter 496
- 5.6.12 Magnetic Contactor 498
- 29 (1.14) 499
- 5.6.13 Surge Suppressor 500
- Type W H D M1 M2 Approx 501
- J Specifications 503
- • Connection 507
- INSPECTION, MAINTENANCE 508
- AND TROUBLESHOOTING 508
- 6.1.1 Servomotor 509
- 6.1.2 SERVOPACK 510
- SGMj servomotor 511
- 12 bit absolute encoder 511
- Shielded wire 511
- 6.2 Troubleshooting 512
- At power ON 514
- Display and Outputs 515
- OFF: Output transistor is OFF 515
- ON: Output transistor is ON 515
- Status When Alarm Occurred 515
- A, B, C, D 518
- J A.71, A.72 520
- applied 539
- Examples 540
- • 2.0kW to 3.0kW 541
- • 4.4kW to 5.0kW 542
- • 6.0kW to 15.0 kW 543
- (continued to next page) 544
- (from previous page) 545
- PG output line driver 545
- Incremental encoder 546
- Appendix 547
- Convert 548
- A.2.2 Manual Adjustment 551
- Ti ≥ 2.3 × 552
- A.3.2 Manual Adjustment 555
- A.3.2 Manual Adjustment cont 558
- A.4 Gain Setting References 559
- LIST OF I/O SIGNALS 565
- For speed control 565
- For torque control 565
- *3 Analog monitor signals 566
- LIST OF USER CONSTANTS 568
- • Factory settings 574
- LIST OF ALARM DISPLAYS 578
- manual adjustment mode, 217 579
- manual adjustment mode, 210 583
- YASKAWA ELECTRIC CORPORATION 585
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