Yaskawa Sigma-5 User Manual: Design and Maintenance - Linear Motors MECHATROLINK-III Communications Reference - Manual (Page 166)

5 Adjustments
5.3.1 Advanced Autotuning
5-16
5.3 Advanced Autotuning (Fn201)
This section describes the adjustment using advanced autotuning.
5.3.1 Advanced Autotuning
Advanced autotuning automatically operates the servo system (in reciprocating movement in the forward and
reverse directions) within set limits and adjust the SERVOPACK automatically according to the mechanical
characteristics while the servo system is operating.
Advanced autotuning can be performed without connecting the host controller.
The following automatic operation specifications apply.
• Maximum speed: Rated motor speed × 2/3
• Acceleration force: Approximately 100% of rated motor force
The acceleration force varies with the influence of the mass ratio (Pn103), machine
friction, and external disturbance.
• Travel distance: Set in unit of 1000 reference unit. Factory setting is 90 mm.
Advanced autotuning performs the following adjustments.
• Mass ratio
• Gains (e.g., position loop gain and speed loop gain)
• Filters (force reference filter and notch filter)
• Friction compensation
• 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 lowering the speed loop gain
(Pn100) until vibration is eliminated.
• Before performing advanced autotuning with the tuning-less function enabled
(Pn170.0 = 1: Factory setting), always set Jcalc to ON to calculate the mass. The tun-
ing-less function will automatically be disabled, and the gain will be set by advanced
autotuning.
With Jcalc set to OFF so the mass is not calculated, "Error" will be displayed on the
panel operator, and advanced autotuning will not be performed.
• If the operating conditions, such as the machine-load or drive system, are changed
after advanced autotuning, then change the following related parameters to disable
any values that were adjusted before performing advanced autotuning once again
with the setting to calculate the mass (Jcalc = ON). 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.)
SERVOPACK
Movement
speed
Reference
Response
Travel
distance
Execute advanced autotuning
after a JOG operation to move
the position to ensure a suitable
movement range.
65
t: time
t: time
Rated motor
speed
×
2/3
Rated motor
speed
×
2/3
Rated motor
force 
Approx. 100%
Rated motor
force 
Approx. 100%
Automatic operation
Linear