Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 357)

11 Appendix
11.3.1 Autotuning
11-42
1. By setting byte 1 of the MECHATROLINK II command field to ADJ (3EH) and byte 2 to 00H, the
following command field can be set.
2. Send the following data in each command field.
Set “01H” (Data setting) in the CCMD field.
Set “2000H” in the CADDRESS field.
Set “1007H” in the CDATA field.
3. CMDRDY of STATUS is set to 1, and CADDRESS and CDATA of the response are confirmed to be the
same as those of the command.
The Normal Autotuning Results Write Mode will be entered.
4. Continue by using the following data.
Set “01H” (Data setting) in the CCMD field.
Set “2001H” in the CADDRESS field.
Set “01H” (Execute) in the CDATA field.
5. CMDRDY of STATUS is set to 1, and CADDRESS and CDATA of the response are confirmed to be the
same as those of the command. It takes one second until CMDRDY is set to 1.
This completes saving the normal autotuning results.
(4) Parameters Related to Normal Autotuning
This section provides information on a variety of parameters related to normal autotuning.
• Normal Autotuning Method
The following parameter is used to set the autotuning conditions.
This parameter is factory-set to “0.” If the load moment of inertia change is minimal or if the application
makes few changes, there is no need to continue calculating the moment of inertia while the system is in
operation. Instead, continue to use the value that was calculated when the system was first started up.
Set this parameter to “1” if the load moment of inertia always fluctuates due to the load conditions. Then the
response characteristics can be kept stable by continuously refreshing the moment of inertia calculation data
and reflecting them in the servo gain.
If the load moment of inertia fluctuation results within 200 ms, the moment of inertia calculation data may
not be refreshed properly. If that happens, set Pn110.0 to “0” or “2.”
Set Pn110.0 to “2” if autotuning is not available or if the normal autotuning function is not used because the
load moment of inertia is already known and the SERVOPACK is manually adjusted by setting the inertia
ratio data in Pn103.
Command Response
5 CCMD CANS CCMD: Command
CANS: Answer
CADDRESS: Setting/reference address
CDATA: Setting/reference data
6 CADDRESS CADDRESS
7
8
CDATA CDATA
9
Parameter Description
Pn110 n. 0 Autotuning is performed only when the system runs for the first time after the power is
turned ON. After the load moment of inertia is calculated, the calculated data is not
refreshed.
n. 1 Autotuning is continuously performed (moment of inertia value calculation).
n. 2 The normal autotuning function is not used.