Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 152)

5.3 Advanced Autotuning (Fn201)
5-15
Adjustments
5.3 Advanced Autotuning (Fn201)
This section describes the adjustments with advanced autotuning.
5.3.1 Advanced Autotuning
Advanced autotuning automatically operates the SERVOPACK (in reciprocating movement in the forward
and reverse directions) within set limits and makes adjustment automatically according to the mechanical
characteristics while the SERVOPACK is operating.
Advanced autotuning can be performed without connecting the host controller.
The following automatic operation specifications apply.
• Motor speed: Rated motor speed × 2/3
• Acceleration torque: Approximately 100% of rated motor torque
The acceleration torque varies with the influence of the load moment of inertia ratio
(Pn103), machine friction, and external disturbance.
• Movement distance: The travel distance can be set freely. The distance is factory-set to a value equivalent to
3 motor rotations.
For an SGMCS direct drive servomotor, the distance is factory-set to a value equiva-
lent to 0.3 motor rotations.
Advanced autotuning performs the following adjustments.
• Moment of inertia ratio
• Gains (e.g., position loop gain and speed loop gain)
• Filters (torque reference filter and notch filter)
• Advanced autotuning starts adjustments based on the set speed loop gain (Pn100).
Therefore, precise adjustments cannot be made if there is vibration when starting
adjustments. In this case, make adjustments after setting a fully stable gain using
one-parameter tuning (Fn203).
• Before performing advanced autotuning with the tuning-less function enabled
(Pn170.0 =1: Factory setting), always set Jcalc to ON to calculate the load moment of
inertia. The tuning-less function will automatically be disabled, and the gain will be set
by advanced autotuning.
With Jcalc set to OFF so the load moment of inertia is not calculated, “Error” will be
displayed on the panel operator, and advanced autotuning will not be performed.
• If the operation conditions, such as the machine load or drive system, are changed by
resetting Jcalc to ON to calculate the load moment of inertia after advanced autotun-
ing, then change the related parameters to disable any values that were adjusted
before performing advanced autotuning once again. If advanced autotuning is per-
formed without changing the parameters, machine vibration may occur, resulting in
damage to the machine.
Pn00B.0 = 1 (Displays all parameters.)
Pn140.0 = 0 (Does not use model following control.)
Pn160.0 = 0 (Does not use anti-resonance control.)
Pn408 = n.00 0 (Does not use friction compensation, 1st notch filter, or 2nd notch fil-
ter.)
t: time
t: time
Rated motor
speed
×
2/3
Rated motor
speed
×
2/3
Rated motor
torque 
Approx. 100%
Rated motor
torque 
Approx. 100%
Automatically operation
Movement
distance
SERVOPACK
Movement
Speed
Reference
Response
* Execute advanced autotuning
after using a JOG operation to
move the position to one where a
suitable of movement range is ensured.