Yaskawa Sigma-5 User Manual: Design and Maintenance - Linear Motors - Manual (Page 160)

5 Adjustments
5.3.1 Advanced Autotuning
5-16
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.
• Max. motor speed: Rated motor speed × 2/3
• Acceleration force*: Approximately 100% of rated motor force
• Travel distance: Set in unit of 1000 reference units. Factory setting is 90 mm.
∗ The acceleration force varies with the influence of the mass ratio (Pn103), machine friction, and external disturbance.
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
• Anti-resonance control
• Vibration suppression (Mode = 2 or 3)
• 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 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 operation conditions, such as the machine load or drive system, are changed by
resetting Jcalc to ON to calculate the mass after advanced autotuning, then change
the related parameters to disable any values that were adjusted before performing
advanced autotuning once again. If advanced autotuning is performed without chang-
ing 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
t: time
t: time
Rated motor speed
×
2/3
Rated motor speed
×
2/3
Rated motor force 㧦
Approx. 100%
Rated motor force 㧦
Approx. 100%