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4. Servo Adjustment
4 - 1
4-1 D/A output specifications for servo drive unit ................................................................................... 4-2
4-1-1 D/A output specifications ........................................................................................................... 4-2
4-1-2 Output data settings................................................................................................................... 4-3
4-1-3 Setting the output magnification ................................................................................................ 4-3
4-2 Gain adjustment................................................................................................................................ 4-4
4-2-1 Current loop gain ....................................................................................................................... 4-4
4-2-2 Speed loop gain ......................................................................................................................... 4-4
4-2-3 Position loop gain....................................................................................................................... 4-6
4-3 Characteristics improvement ............................................................................................................ 4-9
4-3-1 Optimal adjustment of cycle time............................................................................................... 4-9
4-3-2 Vibration suppression measures ............................................................................................. 4-11
4-3-3 Improving the cutting surface precision................................................................................... 4-15
4-3-4 Improvement of characteristics during acceleration/deceleration ........................................... 4-19
4-3-5 Improvement of protrusion at quadrant changeover................................................................ 4-22
4-3-6 Improvement of overshooting .................................................................................................. 4-29
4-3-7 Improvement of the interpolation control path ......................................................................... 4-31
4-4 Adjustment during full closed loop control...................................................................................... 4-33
4-4-1 Outline...................................................................................................................................... 4-33
4-4-2 Speed loop delay compensation.............................................................................................. 4-34
4-4-3 Dual feedback control (Optional function) ............................................................................... 4-35
4-5 Settings for emergency stop........................................................................................................... 4-37
4-5-1 Deceleration control................................................................................................................. 4-37
4-5-2 Vertical axis drop prevention control........................................................................................ 4-39
4-6 Protective functions ........................................................................................................................ 4-43
4-6-1 Overload detection................................................................................................................... 4-43
4-6-2 Excessive error detection ........................................................................................................ 4-43
4-6-3 Collision detection.................................................................................................................... 4-44