YASKAWA Sigma-V Series User Manual page 112

3 Utility Function Mode
3.3.27 Advanced Autotuning (Fn201)
(4) Operation Example
Step
1
Press the
using the
2
Press the
Note: If the display does not change and NO-OP is displayed, take proper measures
Using the
Select the Mode.
Jcalc=ON: the load moment of inertia ratio/mass ratio calculated
Jcalc=OFF: the load moment of inertia ratio/mass ratio not calculated
Usually, set Jcalc to ON.
<Supplementary Information>
3
If the moment of inertia ratio/mass ratio is known from the machine specifications, set it
in Pn103, and then set the Jcalc to OFF. Otherwise, use this function in mode 0 (inertia
calculated).
Select the adjustment level.
Mode=1: Standard
Mode=2: Exclusively for positioning
Mode=3: Exclusively for positioning (mainly to suppress overshoot)
Note: Use a setting of "0: loose" or "1: normal" if reference input-type advanced auto-
3-70
− F U N C T I O N −
B B
F n 2 0 0 : T u n e L v l S e t
F n 2 0 1 : A A T
F n 2 0 2 : R e f − A A T
F n 2 0 3 : O n e P r m T u n
Key to open the Utility Function Mode main menu, and select Fn201
or Key.
B B A d v a n c e d A T
J c a l c = O N
M o d e = 2 T y p e = 2
S t r o k e = + 0 0 8 0 0 0 0 0
( 0 0 0 3 . 0 ) r e v
Key to display the initial setting screen for advanced autotuning.
referring to (1) Conditions that Disable This Function.
B B A d v a n c e d A T
J c a l c = O N
M o d e = 2 T y p e = 2
S t r o k e = + 0 0 8 0 0 0 0 0
( 0 0 0 3 . 0 ) r e v
, or
Jcalc
Adjustment Level
Makes adjustments considering responsiveness and stability.
Makes adjustments giving priority to positioning performance by using model
following control and friction compensation.
Set to this mode if the position error overshoots when the mode is set to 2.
This mode suppresses overshoot in the gain settings when the mode is set to 2.
tuning is performed after advanced autotuning.
Display Example and Description
Key, set the initial values of the advanced autotuning.