Related Parameters - YASKAWA E-7S SERVOPACK SGD7S Product Manual

8.8 Custom Tuning

8.8.7 Related Parameters

Step
4
5
8.8.7 Related Parameters
The following parameters are automatically adjusted or used as reference when you execute
custom tuning.
Do not change the settings while custom tuning is being executed.
Parameter
Pn100
Pn101
Pn102
Pn103
Pn121
Pn123
Pn124
Pn125
Pn401
Pn408
Pn409
Pn40A
Pn40C
Pn40D
Pn140
Pn141
Pn142
Pn143
Pn144
Pn145
Pn146
Pn147
Pn160
Pn161
Pn163
Yes: The parameter is automatically set.
No: The parameter is not automatically set, but the setting is read during execution.
8-48
Measurement Display Examples
−
Speed Loop Gain
Speed Loop Integral Time Constant
Position Loop Gain
Moment of Inertia Ratio
Friction Compensation Gain
Friction Compensation Coefficient
Friction Compensation Frequency Correction
Friction Compensation Gain Correction
First Stage First Torque Reference Filter Time Constant
Torque-Related Function Selections
First Stage Notch Filter Frequency
First Stage Notch Filter Q Value
Second Stage Notch Filter Frequency
Second Stage Notch Filter Q Value
Model Following Control-Related Selections
Model Following Control Gain
Model Following Control Gain Correction
Model Following Control Bias in the Forward Direction
Model Following Control Bias in the Reverse Direction
Vibration Suppression 1 Frequency A
Vibration Suppression 1 Frequency B
Model Following Control Speed Feedforward Compensation
Anti-Resonance Control-Related Selections
Anti-Resonance Frequency
Anti-Resonance Damping Gain
The graph shows overshooting that occurred when the feed-
forward level was increased even more after step 3. In this
state, overshooting occurs, but the positioning settling time
is shorter. Tuning is completed if the specifications are met.
The tuning results are saved in the SERVOPACK. If over-
shooting occurs before the specifications are met, repeat
steps 3 and 4.
If vibration occurs before the overshooting is eliminated, the
vibration is suppressed with the notch filters and anti-reso-
nance control.
The tuning results are saved in the SERVOPACK.
Name
Continued from previous page.
Operation
Automatic Changes
Yes
Yes
Yes
No
Yes
Yes
No
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
No
No
Yes
Yes
Yes
Yes