Yaskawa YTerm - Manual (Page 30)

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YTerm Software Manual
The Tuning screens (Figures 14 and 14A), are used to set the gains of the
servo motors. See the SMC User's Manual for a detailed explanation about
tuning a servo system.
The Terminal screen is not resizable when shown on th etuning screen.
Note: Use the Axis Selection Panel to select the motor to tune. Only one
motor can be tuned at a time.
Manual Tuning
See the SMC User's Manual for proper tuning technique.
In order to manually tune a servo system connected to the SMC Controller:
1. Select the axis by clicking on the appropriate radio button on
the axis selection panel.
2. Use the terminal window to send the SH* (where * = X, Y, Z,
W, E, F, G, H) command to enable the servo motor.
3. Set default values for the gains.
4. Increase KP, KD, KI gains accordingly, by moving the
horizontal scroll bars above each gain label. Moving the bar to
the right increases the value of the gain, moving it to the left
decreases it. It is also possible to type the commands directly
into the terminal. THe scroll bar will update when a radio
button is pushed.
5. For KI and KP, click inside the bar to change the value by 1.
Click the arrow on the bar to change the value by 0.1.
6. For KD, click inside the bar to change value by 10. Click the
arrow on the bar to change value by 1.