Yaskawa Large Capacity Sigma II Series - Manual (Page 201)

5 Servo Adjustment
5.3.1 Online Autotuning
5-18
„ Setting Parameters for Online Autotuning
The following flowchart shows the procedure for setting the parameters for online autotun-
ing.
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.)
Yes
Load moment
of inertia
changes?
Operation
OK?
Operation
OK?
Operation
OK?
Adjust the friction
compensation.
(Set in Pn110.2.)
End
Make servo gain
adjustments manually. *
No
Yes
No
Yes
No
Yes
No
Yes
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)
* Before making servo gain adjustments manually , refer to
5.4 Servo Gain Adjustments
or 5.2 High-speed Positioning.
Operation
OK?