Yaskawa FSP Amplifier FlexWorks - Manual (Page 47)

Operating the FSP Amplifier Using FlexWorks
47
Performing Fine Tuning
During fine tuning, the motor moves in the positive direction and
then back again, and repeats this motion several times. The control
parameters are optimized by analyzing motor movement. Motor
movement is as follows:
♦ If you select Auto Select Parameters, the motor will rotate
approximately twice.
♦ If you select With User Parameters, the motor will rotate
according to the settings of the Auto-tuning parameters (Pn2C8
– Pn2CB).
To perform fine tuning:
1. Place the motor so that it can move according to the Auto-
tuning profile.
2. Enter a rough estimation of load inertia in the Inertia Ratio
field.
3. Select Auto Select Parameters or With User
Parameters, depending on the motor motion required.
4. Press Start.
W ARNING :
After pressing Start, the motor will begin to move.
5. Wait for a few minutes while the best gain is detected.
6. Click OK.
7. Enable the servo control and check the performance (See
4.6.4, Evaluating Control Loop Performance).
If you are not satisfied, you can easily improve the
performance and stability by adjusting the global gain
(Pn1A0) or by setting a different inertia ratio.