YASKAWA E-V-MD Series User Manual page 157

8 Adjustments
8.3.2 Advanced Autotuning Procedure
3.
Click Execute.
The following window will appear.
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Speed Loop Setting
Set the speed loop gain and integral time constant.
If the response of the speed loop is poor, the moment of inertia (mass) ratio cannot be measured accu-
rately.
The speed loop setting to get the required response for the moment of inertia (mass) setting is already
set to the default setting. Normally, this setting does not have to be changed.
If this speed loop gain is too high, and is causing excitation in the mechanism, lower the setting. How-
ever, do not set it to a value that is higher than the default setting.
Identification Start Level
Set the moment of inertia (mass) identification start level.
With a heavy load or low-rigidity machine, torque limit may be applied and the moment of inertia iden-
tification may fail.
In this case, double the identification start level and execute identification again.
Edit
Click Edit to view the Speed Loop-Related Setting Change box or the Identification Start Level Setting
Change box.
Help
Click Help to open the window for guidelines on the reference condition settings.
•Run the motor to measure the load's inertial moment (mass) of the machine to compare it with the
•Set the driving mode, reference pattern (maximum acceleration, maximum speed, and maximum mov-
•Accurate measurement of the moment of inertia (mass) ratio depends on the settings. See the measure-
Reference Selection
Select a reference pattern from the Reference Selection box or create the reference pattern by directly
entering the values.
As the setting for maximum acceleration increases, the accuracy of the inertia identification tends to
improve.
Consider the pulley diameter or the speed reduction ratio such as the ball screw pitches, and set the
maximum acceleration within the operable range.
8-24
rotor's inertial moment of the motor in the moment of inertia (mass) ratio.
ing distance), and parameters related to the speed loop.
ment results to determine the proper settings.
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