YASKAWA E-V Series User Manual page 119

5 Adjustments
5.3.1 Advanced Autotuning
(2) Check Points for Operating Conditions
Advanced autotuning cannot be performed normally under the following conditions. If any of the following
conditions exists, calculate the mass ratio from the specifications of the machine and perform reference input-
type advanced autotuning or one-parameter tuning.
Refer to 5.4 Advanced Autotuning by Reference (Fn202) and 5.5 One-parameter Tuning (Fn203) for details.
• The machine system can work only in a single direction.
• The operating range is 5 mm or less.
(3) Items Influencing Performance
Advanced autotuning may not be performed normally under the following conditions. If the result of autotun-
ing is not satisfactory, perform reference input-type advanced autotuning or one-parameter tuning.
Refer to 5.4 Advanced Autotuning by Reference (Fn202) and 5.5 One-parameter Tuning (Fn203) for details.
• The mass changes within the set operating range.
• The machine has high friction.
• 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.
Note: If a setting is made for calculating the mass, an error will result when P control operation is used while the mass is
• The mode switch is used.
Note: If a setting is made for calculating the mass, the mode switch function will be disabled while the mass is being cal-
• The positioning completed width is small.
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). If the SERVOPACK is operated in speed control (Pn000.1=0), use the
factory settings. After the adjustments, the maximum overshoot becomes the positioning completed width.
Setting smaller value to Overshoot Detection Level (Pn561) makes adjustments giving priority to over-
shooting suppression.
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.
Overshoot Detection Level
Pn561
Setting Range
0 to 100
.
5-16
being calculated.
culated. At that time, PI control will be used. The mode switch function will be enabled after calculating the mass.
• 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. If the SERVOPACK is operated in speed control
(Pn000.1=0), use the factory settings.
Setting Unit
1%
• Unless the positioning completion signal (/COIN) is turned ON within approximately 3
seconds after positioning has been completed, "WAITING" will blink. Furthermore,
unless the positioning completion signal (/COIN) is turned ON within approximately 10
seconds, "Error" will blink for 2 seconds and tuning will be aborted.
Speed Position Force
Factory Setting When Enabled
100
Classification
Immediately Setup