Yaskawa FSP Amplifier FlexWorks - Manual (Page 46)

Operating the FSP Amplifier Using FlexWorks
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The fields and options are explained below:
♦ Inertia Ratio (Pn103): Inertia ratio between the load and the
motor as a percentage.
♦ Fast Tuning: The drive loads a group of parameters from
predefined tuning groups, based on the motor and drive type
and the load inertia.
♦ Fine Tuning: The drive moves the motor back and forth and
searches for the parameters that allow the best system
performance.
♦ Auto Select Parameters: Uses Fast Tuning gains as the
starting point. The motion profile of the motor while tuning is
determined automatically according to system characteristics.
The motor will make approximately one turn to each side, and
this process is repeated until all coefficients have been set.
♦ With User Parameters: The gain values start at their current
values (set by parameters, such as Pn1AC = 54). The motion
during the tuning (Auto-tuning profile) is set according to
Pn2C8, Pn2C9, Pn2CA and Pn2CB, allowing you to specify how
far and how fast the motor should turn during fine tuning.
4.6.3. Performing Fast Tuning
To perform fast tuning:
1. Enter a rough estimation of load inertia in Inertia Ratio.
2. Click Start.
The Fast-Tuning window is displayed.
3. Click OK.
4. Enable the servo control and check the performance (See
4.6.4, Evaluating Control Loop Performance).
If the motor behavior is good, you can either perform Fine
Tuning or leave it as is.
5. If you are not satisfied with the performance, the following
methods can be used to improve the performance and
stability of the system:
Adjust the global gain (Pn1A0).
Set a different Inertia ratio.
N OTE :
The value of the command filter is calculated automatically and
stored in parameter Pn216 during fast tuning.