One-Parameter Tuning; One-Parameter Tuning Procedure - YASKAWA E-V-MD Series User Manual

8 Adjustments

8.5.1 One-parameter Tuning

8.5

One-parameter Tuning

Adjustments with one-parameter tuning are described below.
8.5.1
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.
The following are tuned automatically.
• Gains (e.g., position loop gain and speed loop gain)
• Filters (torque reference filter and notch filter)
• Friction compensation
• Anti-resonance control
One-parameter tuning allows you to automatically set related servo gain settings to balanced conditions by
adjusting one or two tuning levels.
Refer to8.5.4 Related Parameters for parameters used for adjustments.
For one-parameter tuning, execute custom tuning from the SigmaWin+.
Supplemental Information
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 8.8 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 tuning-less function must be disabled (Pn170.0 = 0).
• The tuning mode must be set to 0 or 1 when performing speed control.
• The write prohibited setting parameter must be set to Write permitted.
8.5.2

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 that you use.
When the tuning mode is set to 0 or 1, model following control will be disabled and one-parameter tuning
will be used as the tuning method for applications other than positioning.
When the tuning mode is set to 2 or 3, model following control will be enabled and one-parameter tuning
will be used as the tuning method for positioning.
This section provides the procedure for when the tuning mode is set to 0 (set servo gains with priority given to
stability) or 2 (set servo gains with priority given to positioning application).
To execute one-parameter tuning, use custom tuning from the SigmaWin+.
• If you use phase control with an MP2000-series Controller, set the tuning mode to 0 or 1. If the tuning
mode is set to 2 or 3, correct phase control may not be possible.
8-46
CAUTION
CAUTION