YASKAWA E-V Series User Manual page 118

A filter type can be set to select a machine resonance reduction filter according to the mechanical element
Filter Type
Type = 1
Type = 2
Type = 3
• 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.
• When using the SERVOPACK with Jcalc = OFF (mass is not calculated) be sure to set a suitable value for
the mass ratio (Pn103). If the setting greatly differs from the actual mass ratio, normal control of the SER-
VOPACK may not be possible, and vibration may result.
(1) Check Points for Settings
Check the following settings before performing advanced autotuning, or otherwise "NO-OP" will be displayed
during advanced autotuning.
• The main circuit power supply must be ON.
• The servo must be OFF.
• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signal must not be in an overtravel state.
• The clear signal must be at low level (not cleared).
• The control must not be set to force control.
• Automatic gain switching must be disabled.
• The write prohibited setting (Fn010) must not be set.
If advanced autotuning is started while the SERVOPACK is in speed control, the mode will change to position
control automatically to perform advanced autotuning. The mode will return to speed control after completing
the adjustment.
When using speed control, set the tuning level to Mode 1.
Select a filter suitable for the belt drive mechanism or other mechanism.
Selects a filter suitable for a ball screw drive mechanism or linear servomotor.
Selects a filter suitable for a rigid system, such as a gear.
CAUTION
• 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 setting a fully stable gain using
one-parameter tuning (Fn203).
• Before performing advanced autotuning with the tuning-less function enabled (Pn170
= 1: Factory setting), always set Jcalc to ON to calculate the mass ratio. The
tuning-less function will automatically be disabled, and the gain will be set by
advanced autotuning.
With Jcalc set to OFF so the mass ratio is not calculated, "Error" will be displayed on
the panel operator, and advanced autotuning will not be performed.
• If the operation conditions, such as the machine-load or drive system, are changed
after advanced autotuning, then change the related parameters to disable any values
that were adjusted before performing advanced autotuning once again. If advanced
autotuning is performed without changing the parameters, machine vibration may
occur, resulting in damage to the machine.
Pn00B.0=1 (Displays all parameters.)
Pn140.0=0 (Does not use model following control.)
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.)
5.3 Advanced Autotuning (Fn201)
Contents
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