Yaskawa SGDB User Manual
Page 214
4 . 2 Using the Functions
203
• When performing autotuning, set the P-CON signal to OFF status.
• When using the mode switching function, perform autotuning after performing one of
the following operations:
D
Not using mode switching.
D
Setting a higher mode switching level.
Refer to 3.6.6 Using Mode Switch for details on mode switch function.
• If using the /S-ON signal to set the servo ON status, display
before turn-
ing ON the /S-ON signal.
J
Parameters Automatically Settable with Autotuning
Position loop gain
Cn-1A
Cn-04
Speed loop gain
Speed loop integration time
constant
Cn-05
Once autotuning has been completed, the autotuning procedure can be omitted for sub-
sequent machines, providing the machine specifications remain unchanged.
It is sufficient to directly set the parameters for subsequent machines.
The machine rigidity can be selected from one of seven levels.
TERMS
Machine Rigidity
The machine rigidity is one of the machine charac-
teristics related to servo control. Set the servo to
high response for a machine, such as a machine
tool, with high rigidity, and to low response for a ma-
chine, such as a robot, with low rigidity.
High rigidity
Motor
Low rigidity
Motor
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