Yaskawa Large Capacity Sigma II Series - Manual (Page 199)

5 Servo Adjustment
5-16
5.3 Autotuning
If positioning is taking a long time, the speed loop gain or position loop gain of the servo system
may not be set properly. If the gain settings are wrong, set them properly in accordance with the
configuration and rigidity of the machinery.
The SERVOPACK incorporates an online autotuning function, which checks the characteristics
of the machinery automatically and makes the necessary servo gain adjustments. The function is
easy to use and makes it possible for even beginners to perform servo gain tuning and set all
servo gains as parameters.
The following parameters can be set automatically by using the online autotuning function.
Parameter Contents
Pn100 Speed loop gain
Pn101 Speed loop integral time constant
Pn102 Position loop gain
Pn401 Torque reference filter time constant
Load moment of Inertia
SERVOPACK
Servomotor
Friction
Autotuning
The characteristics of the machinery
are checked automatically for optimum
tuning.