One-Parameter Autotuning (Fn203) - YASKAWA Sigma-V Series User Manual

3.3.29 One-parameter Autotuning (Fn203)

This function inputs the position reference or speed reference from the host
controller and allows the user to manually adjust the tuning level during
operation.
By adjusting one or two levels, the setting value of the related servo gains are
automatically adjusted to the appropriate values.
This function enables the following adjustments.
• Gain adjustment (such as position loop gain and speed loop gain)
• Filter adjustment (torque reference filter and notch filter)
• Friction compensation.
The type of adjustment can be selected by setting the following tuning modes.
Tuning Mode
Tuning Mode=0
Tuning Mode=1
Tuning Mode=2
Tuning Mode=3
Note: 1. Use this function if sufficiently responsive advanced autotuning and reference-input
type advanced autotuning is not output.
2. To execute fine adjustment of each servo gain, execute manual tuning. For details,
refer to the user's manual.
3. Before executing one-parameter autotuning, be sure to set the moment of inertia ratio
(Pn103) using advanced autotuning. If the moment of inertia ratio is larger than the
actual value, normal control will not work and vibration will occur.
(1) Conditions that Disable This Function
This function is disabled by the following settings.
• When the Write Prohibited Setting (Fn010 = 0001) is set.
• When using the torque control.
(2) Display Example
R U N
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
F n 2 0 4 : A − V i b S u p
F n 2 0 5 : V i b S u p
Adjusts with priority given to stability. Refer to
ing Mode set to 0 or 1] on page 3-84.
Adjusts with priority given to high responsiveness. Refer to
Example 2 [Tuning Mode set to 0 or 1] on page 3-84
Adjusts with priority given to high responsiveness for positioning.
Refer to Example 3 [Tuning Mode set to 2 or 3] on page 3-86
Adjust with priority given to overshoot suppression (Exclusively for
positioning).
Refer to Example 3 [Tuning Mode set to 2 or 3] on page 3-86
− F U N C T I O N −
3.3 Operation Method for Each Utility Function
Type
− O n e P r m T u n −
R U N
S e t t i n g
T u n i n g M o d e = 0
Example 2 [Tun-
3-81
9 3