Yaskawa Sigma II Series Servo System - Manual (Page 258)

Sigma II User’s Manual Chapter 6: Servo Adjustment
6 - 26
Setting Parameters for Online Auto-Tuning
The following flowchart shows the procedure for setting the parameters for online
auto-tuning.
Start
Operate with factory
settings of parameters
Set to always perform tuning.
(Set Pn110.0 to 1)
Adjust the rigidity setting
(Set in Fn001)
Set so that online autotuning
is not performed.
(Set Pn110.0 to 2)
Load
inertia changes?
Operation
OK?
Adjust the friction
compensation.
Set in Pn110.2.
End
Make servo gain
adjustments manually *
No
Yes
No
No
No
No
Save the results of autotuning
to parameters. From the next
time, execute autotuning using
the calculated value as the
initial value.
Set in Fn007
Operation
OK?
Operation
OK?
Operation
OK?
Yes
Yes
Yes
.
Yes
*Before making manual servo gain adjustments, Refer to 6.4.3
Making Manual Adjustments
or 6.2 High-Speed Positioning.