Advanced Autotuning - YASKAWA UAK series User Manual

9.2

Advanced Autotuning

This section describes the adjustment using advanced autotuning.

9.2.1 Advanced Autotuning

Advanced autotuning automatically operates the servo system (in reciprocating movement in the forward and
reverse directions) within set limits and adjusts the SERVOPACK automatically according to the mechanical
characteristics while the servo system is operating.
Advanced autotuning can be performed without connecting the host controller.
The following automatic operation specifications apply.
• Maximum speed: Rated motor speed × 2/3
• Acceleration torque: Approximately 100% of rated motor torque force
• Travel distance: The travel distance can be set freely. The distance is factory-set to a value equivalent to 3
Σ-V-SD
Movement
Speed
Reference
Response
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)
• Anti-resonance control
Refer to 9.2.2 Related Parameters for parameters used for adjustments.
• Because advanced autotuning adjusts the SERVOPACK during automatic operation, vibration or over-
shooting may occur. To ensure safety, perform advanced autotuning in a state where the SERVOPACK
can come to an emergency stop at any time.
• Advanced autotuning starts adjustments based on the set speed loop gain (Pn100).
Therefore, precise adjustments cannot be made if there is vibration when starting
adjustments. In this case, make adjustments after lowering the speed loop gain
(Pn100) until vibration is eliminated.
• If the operating conditions, such as the machine-load or drive system, are changed
after advanced autotuning, then change the following related parameters to disable
any values that were adjusted before performing advanced autotuning once again
with the setting to calculate the moment of inertia (Jcalc = ON). If advanced autotun-
ing is performed without changing the parameters, machine vibration may occur,
resulting in damage to the machine.
Pn160.0=0 (Does not use anti-resonance control.)
Pn408=n.00 0 (Does not use friction compensation, 1st notch filter, or 2nd notch fil-
ter.)
The acceleration torque varies with the influence of the moment of inertia ratio
(Pn103), machine friction, and external disturbance.
motor rotations.
Execute advanced autotuning
after using a JOG operation to
move the position to one where a
suitable of movement range is ensured
Rated motor
×
speed 2/3
Rated motor
×
speed 2/3
Rated motor
torque
Approx. 100%
Rated motor
torque
Approx. 100%
CAUTION
9.2 Advanced Autotuning
t: time
t: time
Automatic operation
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