Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 353)

11 Appendix
11.3.1 Autotuning
11-38
11.3 Using the Adjusting Command (ADJ: 3EH)
11.3.1 Autotuning
If positioning is taking a long time, the speed loop gain or position loop gain of the servo system may not be set
properly. If the gain settings are wrong, set them properly in accordance with the configuration and rigidity of
the machine.
The SERVOPACK incorporates the normal autotuning function, which checks the characteristics of the machine
automatically and makes the necessary servo gain adjustments. The function is easy to use and makes it
possible for even beginners to perform servo gain tuning and set all servo gains as parameters.
The following parameters can be set automatically by using the normal autotuning function.
(1) Normal Autotuning
Normal autotuning is a control function which enables the SERVOPACK to check changes in the load moment of
inertia during operation in order to maintain the target value for speed loop gain or position loop gain.
Normal autotuning may not work well in the following cases.
• When the cycle for load moment of inertia change is 200 ms or shorter (when the load changes rapidly).
• When the application has slow acceleration or deceleration using the soft start function, and the speed
error of the servomotor being driven is small.
• When adjusting the servo gain manually and operating at low gain (a machine rigidity of 1 or less).
Disable the normal autotuning function and adjust the gain manually if tuning is not possible.
Do not use normal autotuning in the following cases.
• When using IP control for the speed loop.
Parameter Content
Pn100 Speed loop gain
Pn101 Speed loop integral time
constant
Pn102 Position loop gain
Pn401 1st Step 1st Torque
reference filter time
constant
Load moment of inertia
Servomotor
SERVOPACK
Friction
Autotuning
The characteristics of the machine
are checked automatically for optimum
tuning.
IMPORTANT