Advanced Autotuning (Fn201) - YASKAWA JUSP-OP05A-1-E User Manual

3 Utility Function Mode

3.2.27 Advanced Autotuning (Fn201)

3.2.27 Advanced Autotuning (Fn201)

This function automatically operates the servo system (in reciprocating movement in
the forward and reverse directions) within set limits and adjust the SERVOPACK
automatically according to the mechanical characteristics while the servo system is
operating.
Advanced autotuning can be performed without connecting the host controller.
Advanced autotuning performs the following adjustments.
• Moment of inertia ratio
• Gains (e.g., position loop gain and speed loop gain)
• Filters (torque reference filter and notch filter)
• Friction compensation
• Anti-resonance control
• Vibration suppression (Mode = 2 or 3)
• Because advanced autotuning adjusts the SERVOPACK during automatic opera-
tion, vibration or overshooting may occur. To ensure safety, perform advanced
autotuning in a state where the SERVOPACK can come to an emergency stop at
any time.
(1) Preparation
The following conditions must be met to perform the advanced autotuning.
The message "NO-OP" indicating that the settings are not appropriate will be dis-
played, if all of the following conditions are not met.
• The main circuit power supply must be ON.
• There must be no overtravel.
• The servomotor power must be OFF.
• The control method must not be set to torque control.
• 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 alarms and warning must be cleared.
• The hardwire baseblock (HWBB) must be disabled.
• The write prohibited setting (Fn010) must not be set to write-protect parameters.
• Jcalc must be set to ON to calculate the load moment of inertia when the tuning-
less function is enabled (Pn170.0 = 1: factory setting).
Note: If advanced autotuning is started while the SERVOPACK is in speed control, the mode
3-60
will change to position control automatically to perform advanced autotuning. The mode
will return to speed control after completing the adjustment. To perform advanced auto-
tuning in speed control, set the mode to 1 (Mode = 1).
CAUTION