YASKAWA Sigma-V Series User Manual page 120

3 Utility Function Mode
3.3.28 Reference Input-type Advanced Autotuning (Fn202)
Step
Press the
Select the adjustment level.
Mode=1: Standard
Mode=2: Exclusively for positioning
Mode=3: Exclusively for positioning (mainly to suppress overshoot)
3
Note: Use a setting of "0: loose" or "1: normal" if reference input-type advanced auto-
Select the filter type to set a filter according to the machine element to be driven. Set the
filter referring to the following functional elements.
Type = 1: Filter type 1
Type = 2: Filter type 2
Type = 3: Filter type 3
<Supplementary Information>
If there is noise or the gain does not increase, good results may be obtained by changing
the filter type.
4
Press the
Note: If the mode is set to 2 (Exclusively for positioning), the "Pn102" display will
5
Input an external /S-ON signal, and then input a reference from the host controller.
3-78
B B A d v a n c e d A T
M o d e = 3 T y p e = 2
, , or
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.
Filter Type Setting
Selects a filter suitable for belt drive mechanisms.
Selects a filter suitable for ball screw drive mechanisms and linear motors (factory
setting).
Selects a filter suitable for rigid systems without speed reducers and drive system.
B B A d v a n c e d A T
P n 1 0 3 : 0 0 0 0 0
P n 1 0 0 : 0 0 4 0 . 0
P n 1 0 1 : 0 0 2 0 . 0 0
P n 1 4 1 : 0 0 5 0 . 0
Key. The advanced autotuning execution screen will be displayed.
change to the "Pn141."
A D J A d v a n c e d A T
P n 1 0 3 : 0 0 3 0 0
P n 1 0 0 : 0 0 4 0 . 0
P n 1 0 1 : 0 0 2 0 . 0 0
P n 1 4 1 : 0 0 5 0 . 0
Display Example and Description
Key and set tuning level and filter type setting.