SGMAH-04A1A21 Yaskawa Industrial With Brake Servo Drip-Proof Motor

Industrial Servo Motor 2.8A Yaskawa Sigma 2 AC SERVO MOTOR 400W SGMAH-04A1A21

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What Is Required to Maintain Accuracy During Coordinated Motions?
The magnitude of the error really does not matter if the path being followed is a single axis move. The
axis will trail the moving command, but will catch up when the endpoint is reached. One could not detect,
by observing the cut, that an error ever existed. When two axes are moved simultaneously to generate a
sloping straight cut, large errors can develop. Figure 2 shows a two axis move along a 45° slope where
both X and Y are being commanded at the same velocity. The gain of the X axis is twice that of the Y
axis, so the X axis error (EX) is half that of the Y axis error (EY). The resulting path is offset from the
commanded one depending on direction, velocity, gains and angle of slope. If the gains of the two axes in
the example were identical, EX and EY would be identical and the machine would lag the moving
command, but it would be precisely on the desired path. It would catch up when the command stops at the
endpoint. Once the gains are precisely matched, the direction, velocity and angle of slope no longer
matter. As long as the commanded path remains on a straight line, the axes will always lag, but precisely
on that line. Maintaining accuracy for linear moves becomes an exercise in matching gains. This will
require detuning the more responsive axes to match the poorest performing one. Many systems allow
gains to be set digitally (and thereby precisely). Often the gain will be a potentiometer or digital register
adjustment. This adjustment is made by commanding each axis at the same medium range value and
adjusting the potentiometers to achieve equal errors.