Advanced Autotuning - YASKAWA E-V-MD Series User Manual

8 Adjustments

8.3.1 Advanced Autotuning

8.3

Advanced Autotuning

This section describes the adjustment using advanced autotuning
8.3.1
Advanced Autotuning
Advanced autotuning automatically operates the servo system (in reciprocating movement in the forward and
reverse directions) within set limits and adjust the SERVOPACK automatically according to the mechanical
characteristics while the servo system is operating.
The following are tuned automatically.
• Moment of inertia ratio
• Gains (e.g., position loop gain and speed loop gain)
• Filters (torque reference filter and notch filter)
• Friction compensation
• Anti-resonance control
• Vibration suppression (only when mode selection is 2 or 3)
Refer to 8.3.3 Related Parameters for parameters used for adjustments.
For advanced autotuning, use the SigmaWin+ to execute moment of inertia (mass) identification and autotun-
ing without a host reference.
The following automatic operation specifications apply.
• Maximum speed: Rated motor speed × 2/3
• Acceleration torque: Approximately 100% of rated motor torque
• Travel distance: The travel distance can be set freely. The distance is factory-set to a value equivalent to 3
8-20
• Advanced autotuning starts adjustments based on the set speed loop gain (PnAC2).
Therefore, precise adjustments cannot be made if there is vibration when starting
adjustments. In this case, make adjustments after lowering the speed loop gain
(PnAC2) until vibration is eliminated.
• You cannot execute advanced autotuning if the tuning-less function is enabled
(Pn170.0 = 1 (factory setting)). Disable the tuning-less function by setting Pn170.0 to 0
first.
• If the operating conditions, such as the machine-load or drive system, are changed
after advanced autotuning, then change the following related parameters to disable
any values that were adjusted before performing advanced autotuning once again with
the setting to calculate the moment of inertia. If advanced autotuning is performed
without changing the parameters, machine vibration may occur, resulting in damage to
the machine.
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.)
The acceleration torque varies with the influence of the moment of inertia ratio
(Pn103), machine friction, and external disturbance.
motor rotations.