Evaluating Control Loop Performance - YASKAWA XTRAWARE - V3.0 Manual

Operating the XtraDrive Using XtraWare
optimized by analyzing the motor movement. Motor movement is as
follows:
♦ If you select Auto Select Parameters the motor will rotate
approximately twice.
♦ If you select With User Parameters the motor will rotate according to
the settings of the auto-tuning parameters (Pn2C8 – Pn2CB).
To perform fine tuning:
1. Place the motor so that it can move according to the auto-tuning profile.
2. Enter a rough estimation of load inertia in the Inertia Ratio field.
3. Select Auto Select Parameters or With User Parameters, depending
on the motor motion required.
4. Press Start.
Warning:
After pressing Start, the motor will begin to move.
5. Wait for a few minutes while the best gain is detected.
6. Click OK.
7. Enable the servo control and check the performance (see 4.6.5,

Evaluating Control Loop Performance).

If you are not satisfied you can easily improve the performance and
stability by adjusting the global gain (Pn1A0) or by trying the following.
For very rigid systems, try the fine tuning without the OCA option
selected.
Set a different Inertia ratio.
4.6.5. Evaluating Control Loop Performance
After having tuned the control loop coefficients using either manual or
automatic tuning, it is useful to verify that the coefficients chosen result in
adequate control. The procedure detailed below describes how the quality of
the control coefficients can be checked.
36 XtraWare User Manual