YASKAWA E-V-MD Series User Manual page 171

8 Adjustments
8.4.1 Advanced Autotuning by Reference
(1) Preparation
The following conditions must be met to perform advanced autotuning by reference.
• The SERVOPACK must be in Servo Ready status
• There must be no overtravel.
• The servomotor power must be OFF.
• The position control must be selected when the servomotor power is ON.
• The gain selection switch must be in manual switching mode (Pn139.0 = 0).
• Gain setting 1 must be selected.
• All warnings must be cleared.
• The tuning-less function must be disabled (Pn170.0 = 0).
• The write prohibited setting parameter must be set to Write permitted.
(2) When Advanced Autotuning by Reference Cannot Be Performed Successfully
Advanced autotuning by reference cannot be performed successfully under the following conditions. If the
result of autotuning is not satisfactory, perform one-parameter tuning.
• The travel distance in response to references from the host controller is smaller than the set positioning com-
pleted width (PnACC).
• The motor speed in response to references from the host controller is smaller than the set rotation detection
level (PnB1C).
• The stopping time was 10 ms or shorter.
• The rigidity of the machine is low and vibration occurs when positioning is performed.
• The position integration function is used.
• P control operation (proportional control) is performed.
• The mode switch is used.
• The positioning completed width (PnACC) is too small.
Refer to 8.5 One-parameter Tuning for details on one-parameter tuning.
Change only the overshoot detection level (PnACC) to finely adjust the amount of overshooting without
changing the positioning completed 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 without any overshooting in the posi-
tioning completed width. If the setting of Pn561 is changed, however, the positioning time may be extended.
Pn561
8-38
• Advanced autotuning by reference starts adjustments based on the positioning com-
pleted width (PnACC). Set the electronic gear ratio (PnA42/PnA44) and positioning
completed width (PnACC) to the actual value during operation.
Overshoot Detection Level
Setting Range Setting Unit
0 to 100
Speed
Factory Setting
1% 100
Position Torque
Classification
When Enabled
Immediately Setup