Advanced Autotuning (Fn201); Advanced Autotuning - YASKAWA SGMJV User Manual
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5.3
Advanced Autotuning (Fn201)
This section describes the adjustment using advanced autotuning.
5.3.1 Advanced Autotuning
Advanced autotuning automatically operates the servo system (in reciprocating movement in the forward and
reverse directions) within set limits and adjust the SERVOPACK automatically according to the mechanical
characteristics while the servo system is operating.
Advanced autotuning can be performed without connecting the host controller.
The following automatic operation specifications apply.
• Maximum speed: Rated motor speed × 2/3
• Acceleration torque: Approximately 100% of rated motor torque
• Travel distance: The travel distance can be set freely. The distance is factory-set to a value equivalent to 3
Movement
Speed
Reference
Response
SERVOPACK
Advanced autotuning performs the following adjustments.
• Moment of inertia ratio
• Gains (e.g., position loop gain and speed loop gain)
• Advanced autotuning starts adjustments based on the set speed loop gain (Pn100).
Therefore, precise adjustments cannot be made if there is vibration when starting
adjustments. In this case, make adjustments after lowering the speed loop gain
(Pn100) until vibration is eliminated.
• Before performing advanced autotuning with the tuning-less function enabled
(Pn170.0 = 1: Factory setting), always set Jcalc to ON to calculate the load moment of
inertia. The tuning-less function will automatically be disabled, and the gain will be set
by advanced autotuning.
With Jcalc set to OFF so the load moment of inertia is not calculated, "Error" will be
displayed on the panel operator, and advanced autotuning will not be performed.
• If the operating conditions, such as the machine-load or drive system, are changed
after advanced autotuning, then change the following related parameters to disable
any values that were adjusted before performing advanced autotuning once again
with the setting to calculate the moment of inertia (Jcalc = ON). If advanced autotun-
ing is performed without changing the parameters, machine vibration may occur,
resulting in damage to the machine.
Pn00B.0=1 (Displays all parameters.)
Pn140.0=0 (Does not use model following control.)
Pn160.0=0 (Does not use anti-resonance control.)
Pn408=n.000 (Does not use friction compensation, 1st notch filter, or 2nd notch fil-
ter.)
The acceleration torque varies with the influence of the moment of inertia ratio
(Pn103), machine friction, and external disturbance.
motor rotations.
For an SGMCS direct drive servomotor, the distance is factory-set to a value equivalent to
0.3 motor rotations.
Execute advanced autotuning
after a JOG operation to move
the position to ensure a suitable
movement range.
5.3 Advanced Autotuning (Fn201)
Rated motor
×
speed
2/3
Rated motor
×
speed
2/3
Rated motor
torque
Approx. 100%
Rated motor
torque
Approx. 100%
Automatic operation
5
t: time
t: time
5-17
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