Autotuning With A Host Reference; Outline; Restrictions - YASKAWA SGD7S Product Manual
E-7s servopack with analog voltage/pulse train references
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8.7
Autotuning with a Host Reference
This section describes autotuning with a host reference.
Autotuning with a host reference makes adjustments based on the set speed loop gain (Pn100).
Therefore, precise adjustments cannot be made if there is vibration when adjustments are
started. Make adjustments after lowering the speed loop gain (Pn100) until vibration is eliminated.
Important
8.7.1
Outline
Autotuning with a host reference automatically makes optimum adjustments for operation refer-
ences from the host controller.
The following items are adjusted automatically.
• Gains (e.g., speed loop gain and position loop gain)
• Filters (torque reference filter and notch filters)
• Friction compensation
• Anti-resonance control
• Vibration suppression
Refer to the following section for details on the parameters that are adjusted.
8.7.7 Related Parameters on page 8-41
Movement
speed
Host controller
Because autotuning with a host reference adjusts the SERVOPACK during automatic opera-
tion, vibration or overshooting may occur. To ensure safety, make sure that you can perform
an emergency stop at any time.
8.7.2
Restrictions
Systems for Which Adjustments Cannot Be Made
Accurately
Adjustments will not be made correctly for autotuning with a host reference in the following
cases. Use custom tuning.
• When the travel distance for the reference from the host controller is equal to or lower than
the setting of the positioning completed width (Pn522)
• Rotary Servomotors: When the movement speed for the reference from the host controller is
equal to or lower than the setting of the rotation detection level (Pn502)
• Linear Servomotors: When the movement speed for the reference from the host controller is
equal to or lower than the setting of the zero speed level (Pn581)
• When the time required to stop is 10 ms or less
Operation
references
SERVOPACK
8.7 Autotuning with a Host Reference
References
Responses
Travel Distance
Servomotor
CAUTION
8.7.1 Outline
8
8-35
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Troubleshooting
