Online Autotuning Procedure - YASKAWA SGM H Series User Manual

9 Adjustments

9.2.2 Online Autotuning Procedure

9.2.2 Online Autotuning Procedure
• Do not perform extreme adjustment or setting changes causing unstable servo operation.
Failure to observe this warning may result in injury and damages to the machine.
• Adjust the gains slowly while confirming motor operation.
No
Continuous online autotuning.
Ajust the machine rigidity setting.
Adjust the friction compensation.
Do not perform online autotuning.
9-6
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Start
Operate with factory setting.
(Set Pn110.0 = 0.)
Yes
Operation OK?
No
Load moment of
inertia varies?
Yes
(Set Pn110.0 = 1.)
Yes
Operation OK?
No
(Set at Fn001.)
Yes
Operation OK?
No
(Set Pn110.2.)
Yes
Operation OK?
No
(Set Pn110.0 = 2.)
End
WARNING
Write the result of autotuning
in the parameter.
The result will be used as the
default vaue for next autotuning.
(Utility function Fn007)