YASKAWA MECHATROLINK Sigma 2 Series User Manual page 243

Appendix C Using the Adjusting Command (ADJ: 3EH)
C.1.1 Online Autotuning
* Before making servo gain adjustments manually, refer to 9.4 Servo Gain Adjustment Functions
of the
Setting Parameters for Online Autotuning
The following flowchart shows the procedure for setting the parameters for online
autotuning.
Start
Operate with factory
settings of parameters.
Operation
OK?
No
Load
No
moment of inertia
changes?
Set to always perform tuning.
(Set Pn110.0 to 1.)
Operation
OK?
Adjust the machine rigidity
setting.
Operation
OK?
Adjust the friction
compensation.
(Set in Pn110.2.)
Operation
OK?
Clear the online autotuning.
(Set Pn110.0 to 2.)
Make servo gain
adjustments manually*:
End
Σ
-II Series SGM H/SGDH User's Manual (SIEPS80000005).
Yes
Yes
Yes
No
Yes
No
Yes
No
Save the results of autotuning to
parameters. From the next time,
execute autotuning using the
saved value as the initial value.
C-4