Yaskawa MP2600iec - Manual (Page 18)

Subject: Demo Instruction Product: MP2600iec Doc#: TN.MP2600iecDemo.01
Title: MP2600 Demo Instructions
Doc#: TN.MP2600iecDemo.01 Copyright Yaskawa Electric America
©2011
May 24, 2011
Page 18 of 29
Tuning:
This mode showcases the out of the box adaptive tuning capability of the Sigma-5 servo.
1) Make the load: servo inertia ratio 1:1 by leaving only one disc on the motor shaft.
2) Choose Tuning from the main menu on the HMI.
3) Press out of the box parameters.
4) Cycle control power.
5) After the controller and servopack boot up, turn the servo on.
6) Connect using SigmaWin+.
7) Choose trace settings as shown in figure below.
8) Start tracing.
9) Press start move on the HMI.
10) The axis moves at 3000 rpm with a 100 ms accel and decel. The move can be stopped by pressing stop
move on the HMI.
11) The performance plot from SigmaWin+ can be studied. It can be seen that the settling time is around 220
ms.
12) Repeat steps 7 – 10 using an inertia ratio of 20:1 by having all discs on the motor shaft. The settling time
with the changed inertia ratio also is around 150 ms which shows the out of the box capability of the
Sigma-5 to adaptively set gains in the face of changing loads.
13) To see advanced auto tuning performance press advanced auto tuned parameters on the HMI.
14) Cycle control power. After the system powers on, start tracing using SigmaWin+.
15) It can be seen from the plot that position error while accelerating and decelerating are vastly reduced.
Following error at steady state conditions are zero. The settling time is 50 ms. Overshoot is also
reduced.