One-Parameter Tuning (Fn203); One-Parameter Tuning; One-Parameter Tuning Procedure - YASKAWA E-V Series User Manual

5.5

One-parameter Tuning (Fn203)

Adjustments with one-parameter tuning are described below.

5.5.1 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 or two tuning levels.
One-parameter tuning performs the following adjustments.
• Gains (e.g., position loop gain and speed loop gain)
• Filters (torque reference filter and notch filter)
• Friction compensation
• Anti-resonance control
Refer to 5.5.4 Related Parameters for parameters used for adjustments.
Perform one-parameter tuning if satisfactory response characteristics is not obtained with advanced autotun-
ing or advanced autotuning by reference.
To fine-tune each servo gain after one-parameter tuning, refer to 5.8 Additional Adjustment Function.
• 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.
Preparation
The following conditions must be met to perform one-parameter tuning.
• The test without a motor function must be disabled (Pn00C.0 = 0).
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• The tuning-less function must be disabled (Pn170.0 = 0).
• The tuning mode must be set to 0 or 1 when performing speed control.

5.5.2 One-parameter Tuning Procedure

The following procedure is used for one-parameter tuning.
There are the following two operation procedures depending on the tuning mode being used.
• When the tuning mode is set to 0 or 1, the model following control will be disabled and one-parameter tun-
ing will be used as the tuning method for applications other than positioning.
• When the tuning mode is set to 2 or 3, the model following control will be enabled and it can be used for
tuning for positioning.
The operating procedure that is provided here is for when the Tuning Mode is set to 0 to give priority to setting
a servo gain for stability.
The SigmaWin+ is required to execute this function.
• When using the MP2000 Series with phase control, select the tuning mode = 0 or 1. If 2 or 3 is selected,
phase control of the MP2000 Series may not be possible.
CAUTION
CAUTION

5.5 One-parameter Tuning (Fn203)

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