YASKAWA UAK series User Manual page 213

9 Adjustments
9.2.1 Advanced Autotuning
2.
Click Execute. The following window appears.
3.
Click Execute. The following window appears.
Set the speed loop gain and integral time constant.
If the response of the speed loop is poor, the moment of inertia (mass) ratio cannot be measured accu-
rately.
The speed loop setting to get the required response for the moment of inertia (mass) setting is already
set to the default setting. Normally, this setting does not have to be changed.
If this speed loop gain is too high, and is causing excitation in the machine, lower the setting.
Set the moment of inertia (mass) identification start level.
With a heavy load or low-rigidity machine, torque limit may be applied and the moment of inertia iden-
tification may fail.
In this case, double the identification start level and execute identification again.
Click Edit to view the Speed Loop-Related Setting Change box or the Identification Start Level Setting
Change box.
Click Help to open the window for guidelines on the reference condition settings.
9-12
Speed Loop Setting
Identification Start Level
Edit
Help