Yaskawa Sigma-5 User Manual: Operation of Digital Operator - Manual (Page 101)

3.2 Operations
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Utility Function Mode
3.2.28 Advanced Autotuning by Reference (Fn202)
This function is used to automatically achieve optimum tuning of the SERVOPACK
in response to the user reference inputs from the host controller.
This function is performed generally to fine-tune the SERVOPACK after advanced
autotuning of the SERVOPACK has been performed.
If the moment of inertia ratio is correctly set to Pn103, this function can be performed
without performing advanced autotuning.
Advanced autotuning by reference performs the following adjustments.
• Gains (e.g., position loop gain and speed loop gain)
• Filters (torque reference filter and notch filter)
• Friction compensation
• Anti-resonance control
• Vibration suppression
(1) Preparation
The following conditions must be met to perform the advanced autotuning by refer-
ence. The message “NO-OP” indicating that the settings are not appropriate will be
displayed, if all of the following conditions are not met.
• The main circuit power supply must be ON.
• All alarms must be cleared.
• The hardwire baseblock (HWBB) must be disabled.
• When an absolute encoder is used, the SEN signal is ON (high level).
• There must be no overtravel.
• The servomotor power must be OFF.
• The position control must be selected when the servomotor power is ON.
• The gain selection switch must be in manual switching mode (Pn139.0 = 0).
• Gain setting 1 must be selected.
• The test without a motor function must be disabled. (Pn00C.0 = 0).
• All warnings must be cleared.
• The write prohibited setting (Fn010) must not be set to write-protect parameters.
• The tuning-less function must be disabled (Pn170.0 = 0).
CAUTION
• Because advanced autotuning by reference adjusts the SERVOPACK during
automatic operation, vibration or overshooting may occur. To ensure safety, per-
form advanced autotuning by reference in a state where the SERVOPACK can
come to an emergency stop at any time.