Yaskawa FSP Amplifier - Manual (Page 179)

FSP Amplifier User’s Manual Chapter 6: Servo Adjustment
6-12
6.3. NCT Position Control
Position control can be performed by PULSE TRAIN (Pn000.1 = C) or by
SERIAL commands (Pn000.1 = D).
The FSP Amplifier provides an automatic tuning function. In case of auto-
tuning, only a rough estimation of load inertia is required. Refer to Section 6.2.6
for the evaluation of the load inertia, then to Section 5.9.5. for the activation of
the Auto-tuning function.
6.3.1. Load Inertia Setting
In order to use values of loop gains that are closely related to the physical
characteristics of your system, the loop gains are normalized in Hertz. This
normalization of parameters is done according to the assumed inertia of the
system.
Furthermore, the controller includes an automatic set up procedure that set
parameters according to load size. This setting will be satisfactory in most
cases. In case more precise tuning is desired, this first set can be used as a
starting point
You can do a rough estimation of the inertia of the load for your system
and input its value in the Load Inertia Ratio parameter (Pn103).
Set Pn103 to the following value:
Pn103 =
) (J Inertia Rotor Servomotor
) (J Inertia Motor Load
M
L x 100%
Parameter Signal Setting (%) Application
Pn103 Inertia Ratio
Range: 0 to 10000
Default Setting: 0
Speed, Torque,
Position Control, and
Programming