Performing Fast Tuning; Performing Fine Tuning - YASKAWA XTRAWARE - V3.0 Manual

The fields and options are explained below:
♦ Inertia Ratio (Pn103): Inertia ratio between the load and the motor
as a percentage.
♦ Fast Tuning: The driver loads a group of parameters from predefined
tuning groups, based on the motor and driver type and the load inertia.
♦ Fine Tuning: The driver moves the motor back and forth and searches
for the parameters that allow the best system performance.
♦ Auto Select Parameters: Uses Fast Tuning gains as the starting point.
The motion profile of the motor while tuning is determined
automatically according to system characteristics. The motor will make
approximately one turn to each side, and this process is repeated until
all coefficients have been set.
♦ With User Parameters: The gain values start at their current values
(set by parameters, such as Pn1AC = 54). The motion during the tuning
(auto-tuning profile) is set according to Pn2C8, Pn2C9, Pn2CA and
Pn2CB, allowing you to specify how far and how fast the motor should
turn during fine tuning.
4.6.3.

Performing Fast Tuning

To perform fast tuning:
1. Enter a rough estimation of load inertia in Inertia Ratio.
2. Click Start.
The Fast-Tuning
3. Click OK.
4. Enable the servo control and check the performance (See 4.6.5,
Evaluating Control Loop Performance).
If the motor behavior is good you can either perform Fine Tuning or
leave it as is.
5. If you are not satisfied with the performance, the following methods can
be used to improve the performance and stability of the system:
Adjust the global gain (Pn1A0).
For very rigid systems, re-run fast tuning after disabling the OCA
option.
Set a different Inertia ratio.
Note:
The value of the command filter is calculated automatically and
stored in parameter Pn216 during fast tuning.
4.6.4.

Performing Fine Tuning

During fine tuning the motor moves in the positive direction and then back
again, and repeats this motion several times. The control parameters are
XtraWare User Manual
window
is displayed.
Operating the XtraDrive Using XtraWare
35