Contents 5.4.3 Adjustment of Command Offset ............................................................................ 89 5.4.4 Speed Limit in Torque Control ............................................................................... 90 5.5 Hybrid Control Mode Selection ......................................................................................... 90 5.6 Other Output Signals ........................................................................................................ 93 5.6.1 Servo Ready Output Signal ...................................................................................
93 5.6.2 Warning Output Signal .......................................................................................... 93 5.7 Timing Sequence .............................................................................................................. 95 5.7.1 Power Enable ON Timing sequence ..................................................................... 95 5.7.2 Power-Off Enable OFF Timing Sequence ............................................................. 96 5.8 Full closed-loop control .....................................................................................................
96 5.8.1 What is a full closed-loop system .......................................................................... 96 5.8.2 Parameter setting of full closed-loop control ......................................................... 97 5.8.3 Control block diagram of full closed loop control .................................................. 98 5.8.4 Setting of motor rotation direction and machine moving direction ........................ 98 5.8.5 Resolution of external grating ruler ....................................................................... 99 5.8.6 Setting of frequency division pulse output signal of grating ruler / encoder ........
100 5.8.7 Setting of Electronic Gear ................................................................................... 101 5.8.8 Setting example of electronic gear ratio .............................................................. 102 5.8.9 Setting of alarm detection ................................................................................... 103 6 Adjustment ................................................................................................................................ 105 6.1 Adjustments.....................................................................................................................
105 6.1.1 Adjustments Steps .............................................................................................. 105 6.1.2 Safety Precautions When Adjusting .................................................................... 106 6.2 Robust Control ................................................................................................................ 107 6.2.1 Summary ............................................................................................................. 107 6.2.2 Operating procedure ...........................................................................................
108 6.2.3 Supplement ......................................................................................................... 109 6.2.4 Related Parameters ............................................................................................ 109 6.3 Inertia Identification ......................................................................................................... 110 6.3.1 Summary ............................................................................................................. 110 6.3.2 Steps ...................................................................................................................
110 6.3.3 Supplement ......................................................................................................... 110 6.4 Intelligent Setting .............................................................................................................111 6.4.1 Summary ..............................................................................................................111 6.4.2 Steps ................................................................................................................... 112 6.4.3 Supplement .........................................................................................................
113 6.4.4 Related Parameters ............................................................................................ 114 6.5 Bandwidth Setting ........................................................................................................... 115 6.5.1 Profile .................................................................................................................. 115 6.5.2 Steps ................................................................................................................... 115 6.5.3 Supplement .........................................................................................................
116 6.5.4 Related Parameters ............................................................................................ 117 6.6 Manual Adjustment Function ........................................................................................... 118 6.6.1 Servo Gain .......................................................................................................... 118 6.6.2 Gain Switching .................................................................................................... 120 6.6.3 Speed Feedforward .............................................................................................
123 6.6.4 Torque Feedforward ............................................................................................ 124 6.6.5 PI-P Switching ..................................................................................................... 124 7 Auxiliary Functions ................................................................................................................... 128 III SD700 Series Servo Technical Manual