One-Parameter Tuning - YASKAWA UAK series User Manual

9.4

One-parameter Tuning

Adjustments with one-parameter tuning are described below.

9.4.1 One-parameter Tuning

One-parameter tuning is used to manually make tuning level adjustments during operation with a position ref-
erence or speed reference input from the host controller.
One-parameter tuning enables automatically setting related servo gain settings to balanced conditions by
adjusting one tuning level.
One-parameter tuning performs the following adjustments.
• Gains (e.g., position loop gain and speed loop gain)
• Filters (torque reference filter and notch filter)
• Anti-resonance control
Refer to 9.4.2 Related Parameters for parameters used for adjustments.
Perform one-parameter tuning if satisfactory responsiveness is not obtained with advanced autotuning or
advanced autotuning by reference.
To fine-tune each servo gain after one-parameter tuning, refer to 9.6 High-speed Control Adjustments.
• Vibration or overshooting may occur during adjustment. To ensure safety, perform one-parameter tuning in
a state where the SERVOPACK can come to an emergency stop at any time.
Failure to observe this caution may result in injury or damage to the product.
• Be sure to set a suitable value for the moment of inertia ratio (Pn103) before executing the one-parameter
tuning.
If the setting greatly differs from the actual moment of inertia ratio, normal control of the machine may not be possi-
ble, and vibration may result.
(1) Preparation
Check the following settings before performing one-parameter tuning.
The message "NO-OP" indicating that the settings are not appropriate will be displayed, if the following con-
dition is not met.
• The write prohibited setting must not be set to write-protect parameters.
(2) Tuning Mode
There are two one-parameter tuning modes.
• Tuning Mode 0: Emphasizes stability.
• Tuning Mode 1: Emphasizes response.
Adjustments are made for applications other than positioning.
Operations in one tuning level can be performed to change more than one servo gain during stable control.
When vibration is detected, the notch filter, the anti-resonance control settings, and other parameters are set
automatically. The anti-resonance control can be also made manually.
Also, automatic adjustment is supported to achieve gain balance.
CAUTION
9.4 One-parameter Tuning
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