Appendix C Using The Adjusting Command (Adj: 3Eh); Autotuning - YASKAWA MECHATROLINK Sigma 2 Series User Manual

Appendix C Using the Adjusting Command (ADJ: 3EH)

C.1 Autotuning
If positioning is taking a long time, the speed loop gain or position loop gain of the servo system
may not be set properly. If the gain settings are wrong, set them properly in accordance with the
configuration and rigidity of the machine.

Autotuning

The characteristics of the machine
are checked automatically for optimum
tuning.
Servomotor
SERVOPACK
The SERVOPACK incorporates an online autotuning function, which checks the characteristics
of the machine automatically and makes the necessary servo gain adjustments. The function is
easy to use and makes it possible for even beginners to perform servo gain tuning and set all
servo gains as parameters.
The following parameters can be set automatically by using the online autotuning function.
Parameter
Pn100 Speed loop gain
Pn101 Speed loop integral time
constant
Pn102 Position loop gain
Pn401 Torque reference filter
time constant
Load moment of inertia
Friction
Content
C-2