Yaskawa Sigma II Series Servo System - Manual (Page 257)

Sigma II User’s Manual Chapter 6: Servo Adjustment
6 - 25
6.3.1 Online Auto-Tuning
Online auto-tuning is a control function which enables the servo amplifier to check
changes in the load inertia during operation in order to maintain the target value for
speed loop gain or position loop gain.
Online auto-tuning may not work well in the following cases.
• When the cycle for load inertia change is 200ms 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 servomotor manually and operating at low gain (a machine
rigidity of 1 or less).
Disable the online auto-tuning function if tuning is not possible. (See 6.4.3 Making
Manual Adjustments
).
• Do not use online auto-tuning in the following cases:
• When using Torque Control Mode.
• When using IP control (only when using parameter Pn10B.1 = 1) for the speed loop.
• When using the torque feed–forward function.
• When switching gain using /G–SEL.
IMPORTANT