Autotuning With A Host Reference; Outline - YASKAWA SGD7S-****20A Series Product Manual

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
peed
Ho t 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.
Operation
reference
ERVOPACK

8.7 Autotuning with a Host Reference

Reference
Re pon e
Travel Di tance
ervomotor
CAUTION

8.7.1 Outline

8
8-35