2 machine rigidity settings for online autotuning – Yaskawa Large Capacity Sigma II Series User Manual
Page 202
5.3 Autotuning
5-19
5
5.3.2 Machine Rigidity Settings for Online Autotuning
For the machine rigidity settings at the time of online autotuning, select the target values for
speed loop gain and position loop gain of the servo system. Any of the following ten levels
of rigidity can be selected.
Note: The Rigidity value is factory-set to 4.
As the rigidity value is increased, the servo system loop gain increases and the time required
for positioning is shortened. If the rigidity is excessively high, however, it may cause the
machinery to vibrate. In that case, decrease the set value.
The rigidity value setting automatically changes the parameters in the above table.
If parameters Pn102, Pn100, Pn101, and Pn401 are set manually with the online autotuning function
enabled, tuning is performed with the manually set values as target values.
Rigidity
Setting
Fn001
Position Loop
Gain
[S
-1
]
Pn102
Speed Loop Gain
[Hz]
Pn100
Speed Loop
Integral Time
Constant [0.01ms]
Pn101
Torque Reference
Filter Time
Constant [0.01ms]
Pn401
1
15
15
6000
250
2
20
20
4500
200
3
30
30
3000
130
4
40
40
2000
100
5
60
60
1500
70
6
85
85
1000
50
7
120
120
800
30
8
160
160
600
20
9
200
200
500
15
10
250
250
400
10
INFO