Machine Rigidity Settings For Online Autotuning - YASKAWA MECHATROLINK Sigma 2 Series User Manual

C.1.2 Machine Rigidity Settings for Online Autotuning
For the machine rigidity settings at the time of online autotuning, select the target values for
speed loop gain and position loop gain of the servo system. Any of the following ten levels
of rigidity can be selected.
Machine
Rigidity
Setting
Fn001
1
2
3
4
5
6
7
8
9
10
Note: The rigidity value is factory-set to 4.
As the rigidity value is increased, the servo system loop gain increases and the time required
for positioning is shortened. If the rigidity is excessively high, however, it may cause the
machine to vibrate. In that case, decrease the set value.
The rigidity value setting automatically changes the parameters in the above table.
If parameters Pn102, Pn100, Pn101, and Pn401 are set manually with the online autotuning function
INFO
enabled, tuning is performed with the manually set values as target values.
Position Loop Speed Loop Gain
Gain [Hz]
Pn100
-1
[S ]
Pn102
15 15
20 20
30 30
40 40
60 60
85 85
120 120
160 160
200 200
250 250
C-5
C.1 Autotuning
Speed Loop Torque Reference
Integral Time Filter Time
Constant Constant [0.01ms]
[0.01ms] Pn401
Pn101
6000 250
4500 200
3000 130
2000 100
1500 70
1000 50
800 30
600 20
500 15
400 10
C