Tuning Functions - YASKAWA E-7-Series SGD7S Product Manual

8.1.1

Tuning Functions

The following table provides an overview of the tuning functions.
Tuning Function
Tuning-less Function
Moment of Inertia
Estimation
Autotuning without
Host Reference
Autotuning with Host
Reference
Custom Tuning
Anti-resonance
Control Adjustment
Vibration
Suppression
Additional
Adjustment Function
Manual Tuning
Outline
This automatic adjustment function is designed to
enable stable operation without servo tuning. This
function can be used to obtain a stable response
regardless of the type of machine or changes in the
load. You can use it with the default settings.
The moment of inertia ratio is calculated by operat-
ing the Servomotor a few times.
The moment of inertia ratio that is calculated here
is used in other tuning functions.
The following parameters are automatically
adjusted in the internal references in the SERVO-
PACK during automatic operation.
• Gains (e.g., position loop gain and speed loop
gain)
• Filters (torque reference filter and notch filters)
• Friction compensation
• Anti-resonance control
• Vibration suppression
The following parameters are automatically
adjusted with the position reference input from the
host controller while the machine is in operation.
You can use this function for fine-tuning after you
perform autotuning without a host reference.
• Gains (e.g., position loop gain and speed loop
gain)
• Filters (torque reference filter and notch filters)
• Friction compensation
• Anti-resonance control
• Vibration suppression
The following parameters are adjusted with the
position reference or speed reference input from
the host controller while the machine is in opera-
tion.
• Gains (e.g., position loop gain and speed loop
gain)
• Filters (torque reference filter and notch filters)
• Friction compensation
• Anti-resonance control
This function effectively suppresses continuous
vibration.
This function effectively suppresses residual vibra-
tion if it occurs when positioning.
This function combines autotuning with custom
tuning. You can use it to improve adjustment
results.
You can manually adjust the servo gains to adjust
the response.
8.1 Overview and Flow of Tuning

8.1.1 Tuning Functions

Applicable Con-
Reference
trol Methods
Speed control or
page 8-11
position control
Speed control,
position control, page 8-15
or torque control
Speed control or
page 8-23
position control
Position control
page 8-35
Speed control or
page 8-42
position control
Speed control or
page 8-51
position control
Position control
page 8-55
Depends on the
functions that you
page 8-59
use.
Speed control,
position control, page 8-67
or torque control
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