Autotuning With A Host Reference; Outline; Restrictions - YASKAWA SGD7C-***AMAA*** Product Manual

8.7 Autotuning with a Host Reference

8.7.1 Outline

8.7

Autotuning with a Host Reference

This section describes autotuning with a host reference.
Important
8.7.1

Outline

Autotuning with a host reference automatically makes optimum adjustments for operation refer-
ences from the SVD.
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.
8.7.6 Related Parameters on page 8-40
ERVOPACK
Controller ection
8.7.2

Restrictions

Systems for Which Adjustments Cannot Be Made Accu-
rately
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 SVD is equal to or lower than the setting
of the positioning completion width (Pn522)
• Rotary Servomotors: When the travel speed for the reference from the SVD is less than or
equal to the setting of Pn502 (Rotation Detection Level).
• Linear Servomotors: When the travel speed for the reference from the SVD is less than or
equal to the setting of Pn581 (Zero Speed Level).
8-34
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.
Travel
peed
Operation
reference
 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.
ervo ection
Reference
Re pon e
CAUTION
Travel di tance
ervomotor