YASKAWA E-V Series User Manual page 207

6 Adjustments
6.4.1 Advanced Autotuning by Reference
• Because advanced autotuning by reference adjusts the SERVOPACK during automatic operation, vibra-
tion or overshooting may occur. To ensure safety, perform advanced autotuning by reference in a state
where the SERVOPACK can come to an emergency stop at any time.
• Be sure to set a suitable value for the mass ratio (Pn103) using advanced autotuning before advanced
autotuning by reference is performed. If the setting greatly differs from the actual mass ratio, normal con-
trol of the SERVOPACK may not be possible, and vibration may result.
(1) Check Points for Settings
Check the following settings before performing advanced autotuning by reference, or otherwise "NO-OP" will
be displayed during advanced autotuning.
• The main circuit power supply must be ON.
• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signal must not be in an overtravel state.
• The control must be set to position control.
• Automatic gain switching must be disabled.
• The write prohibited setting (Fn010) must not be set.
(2) Check Points for Operating Conditions
The following conditions are required to perform advanced autotuning by reference. If these conditions are not
satisfied, use one-parameter tuning.
• The travel distance in response to references from the host controller must be the same as or larger than the
set positioning completed width (Pn522).
• The motor speed in response to references from the host controller must be the same as or larger than the set
zero speed level (Pn581).
• The stopping time, i.e., the period while the positioning completion/COIN signal is OFF, is 10 ms or longer.
(3) Items Influencing Performance
Advanced autotuning by reference may not be performed normally under the following conditions. If the
result of autotuning is not satisfactory, perform one-parameter tuning.
Refer to 6.5 One-parameter Tuning (Fn203) for details.
• 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.
Change only the overshoot detection level (Pn561) to finely adjust the without changing the positioning com-
pleted width (Pn522). Because Pn561 is set by default to 100%, the allowable amount of overshooting is the
same amount as that for the positioning completed width.
When Pn561 is set to 0%, the amount of overshooting can be adjusted to prevent any overshooting in the posi-
tioning completed width. If the setting of Pn561 is changed, however, the positioning time may be extended.
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• Advanced autotuning by reference 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 setting a fully stable
gain using one-parameter tuning (Fn203).
• Advanced autotuning makes adjustments by referring to the positioning completed
width (Pn522). If the SERVOPACK is operated in position control (Pn000.1=1), set the
electronic gear ratio (Pn20E/Pn210) and positioning completed width (Pn522) to the
actual value during operation.
CAUTION