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  1. #1
    Join Date
    Jan 2013
    Posts
    0

    Question I can't tuning my AC Servos

    Hello everybody!

    I have problems with tuning of my AC Servos from Panasonic.

    They're running on 160VDC with the VSD-E controller.

    My captures aren't good to read. How can I smooth the graphs?

    Wich value must I set on the trajectory planner? I have tried different values.

    Look the pictures --->> http://simotech.jimdo.com/projekte/cnc-fräse/ <<---

    I hope you can help me.....

    .....sorry for my english. I come from Switzerland. Anyone here can German??

    greets from CH

  2. #2
    Join Date
    Oct 2012
    Posts
    87
    Hi,
    The machines looks great


    Check this PDF from Granite devices.

    Also you can increase the values in the Torque settings.

    See if the PDF helps.

    Alan.

  3. #3
    Join Date
    Oct 2012
    Posts
    87
    Take 2.

    file attached this time.

    Alan
    Attached Files Attached Files

  4. #4
    Join Date
    Jan 2013
    Posts
    0
    Hi Alan.

    When I increase the Torque gains then overshoots.

    I have set the scaling of 1:500 = 0.002

    This weekend I try to Increase the divider of the input scaling up to 5000.

    Anyone has the divider so high?

    Ricky

  5. #5
    Join Date
    May 2009
    Posts
    281
    I think you need to switch your scaling value to 50/50 or 60/60. then try again. the 1 TO 1 ratio at the higher numbers is what you need. then tune again

  6. #6
    Join Date
    Sep 2009
    Posts
    5

    German speaker

    Hi,

    My company is selling the VSD's on the East-European (and not only) market for last three years, resp. I have experience about the drives. Additionally I do speak/write German. If you want you could contact me directly in German under [email protected]
    Or I can try to help you here in English.
    The ratio is a good point.
    But first of all you have to be sure, that the pole number of the motor is 4 (according your configuration). In the GD tool you have to enter exactly the pole number and not the pole-pair number. It's critical for the control loops. It's easy to count the poles - put a small current between two phases of your motor (for example directly connect an AA battery between two phase wires) and try to rotate the motor's shaft per hand. It should start to "jump" between the pole-pairs. So just count the jumps per revolution. This number, multiplied by 2 has to be written in the GDtool.
    Other issue is the current fault limit - put there a higher value for the start up - like 15000 mA.
    It would be easier if you share with us the whole configuration - directly uploaded from the servo in .drc format by the GDtool.
    Wish you success!

  7. #7
    Join Date
    Jan 2013
    Posts
    0
    Hi.

    Thanks for your answers!

    I have set the values of trajectory planner to 60/60. 50/50 wasn't good.

    The motor has four poles. I tested the number of poles for your instructions.

    Thank you for this tip.

    Tomorrow i share my GD files on my website.

    Look my tuning of today... http://simotech.jimdo.com/projekte/c...ranite-device/

    Ricky

  8. #8
    Join Date
    Oct 2006
    Posts
    222
    the last picture of the trajectory planner page, you should get the contents of that entire window in your screen shot

  9. #9
    Join Date
    Jan 2013
    Posts
    0
    hi legendboy,

    i have enlarged the picture of the trajectory planner page.

    have a nice weekend

    Ricky

  10. #10
    Join Date
    Oct 2012
    Posts
    87
    Hi Ricky,
    Start with the torque settings.
    Set the torque P gain to something low to start with say 100.
    Set the torque I gain to 0
    Set the torque low pass filter to 3300 Hz
    Press Set
    Goto the next tab in torque tuning (step response)
    Make sure you have a tick in,
    "Torque target value" an "torque achieved value"
    Of the (target signals).
    For testing try setting.
    "Buffer length" to 1000
    "Sample rate" to 20000
    "Step response" to 30.

    Press (set)
    Press (run step response)
    And increase the "torque P gain" by 100
    Press (run step response)
    Check to see if it is improving
    And increase the "torque P gain" by 100
    Press (run step response)
    And so on.
    Down load the tuning manual.

    Your achieved graph colours are all red.
    Your not setting the "step response" tabs in each test type.

    See how you go. Please post pictures on your site of the "step response tab.
    Click image for larger version. 

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  11. #11
    Join Date
    Jan 2013
    Posts
    0
    Hi!

    I have attached new pictures on my page.
    Granite Device - simotechs Webseite!

    Is the velocity too high of the Y-axis?

    thanks for helping me...

    Ricky

  12. #12
    Join Date
    Sep 2004
    Posts
    1207
    Quote Originally Posted by boebi88 View Post
    I have attached new pictures on my page.
    Granite Device - simotechs Webseite!

    Is the velocity too high of the Y-axis?

    thanks for helping me...
    To me all Y axis pictures look good. As long as position response is good, you don't have to worry about velocity tuning (if position mode is good, it means velocity tuning is good as well).

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