YASKAWA UAK series User Manual page 222

(1) Preparation
Check the following settings before performing advanced autotuning by reference. The message "NO-OP"
indicating that the settings are not appropriate will be displayed, if all of the following conditions are not met.
• The SERVOPACK must be in Servo Ready status.
• There must be no overtravel.
• The servomotor power must be OFF.
• The position control must be selected when the servomotor power is ON.
• Gain setting 1 must be selected.
• All warnings must be cleared.
• The write prohibited setting must not be set to write-protect parameters.
(2) When Advanced Autotuning by Reference Cannot Be Performed Successfully
Advanced autotuning by reference cannot be performed successfully under the following conditions. If the
result of autotuning is not satisfactory, perform one-parameter tuning. Refer to 9.4 One-parameter Tuning for
details.
• The travel distance in response to references from the host controller is smaller than the set positioning com-
pleted width (Pn522).
• The motor speed in response to references from the host controller is smaller than the set rotation detection
level (Pn502).
• The stopped time is 10 ms or less. (The stop time is the time that bit 10 (target reached) of the Statusword
(6041h) is 1.)
• The rigidity of the load is low and vibration occurs when positioning is performed.
• The position integration function is used.
• P control operation (proportional control) is performed.
• The mode switch is used.
• The positioning completed width (Pn522) is to small.
Change only the overshoot detection level (Pn561) to finely adjust the amount of overshooting without chang-
ing the positioning completed width (Pn522). Because Pn561 is set by default to 50%, the allowable amount
of overshooting is the half as that for the positioning completed width.
When Pn561 is set to 0%, the amount of overshooting can be adjusted without any overshooting in the posi-
tioning completed width. If the setting of Pn561 is changed, however, the positioning time may be extended.
Overshoot Detection Level
Pn561
Setting Range
(2148h)
0 to 100
Speed
Setting Unit Factory Setting
1% 50
9.3 Advanced Autotuning by Reference
Position
When Enabled
Immediately
Classification
Setup
9
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