Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Command Option Interface - Manual (Page 193)

5 Adjustments
5.5.1 One-parameter Tuning
5-34
5.5 One-parameter Tuning (Fn203)
Adjustments with one-parameter tuning are described below.
5.5.1 One-parameter Tuning
One-parameter tuning is used to manually make tuning level adjustments during operation with a position ref-
erence or speed reference input from the host controller.
One-parameter tuning enables automatically setting related servo gain settings to balanced conditions by
adjusting one or two tuning levels.
One-parameter tuning performs the following adjustments.
• Gains (e.g., position loop gain and speed loop gain)
• Filters (torque reference filter and notch filter)
• Friction compensation
• Anti-resonance control
Refer to 5.5.4 Related Parameters for parameters used for adjustments.
For information on how to input position references or speed references, refer to the manual of the connected
command option module.
Perform one-parameter tuning if satisfactory response characteristics is not obtained with advanced autotun-
ing or advanced autotuning by reference.
To fine-tune each servo gain after one-parameter tuning, refer to 5.8 Additional Adjustment Function.
Preparation
Check the following settings before performing one-parameter tuning.
The message “NO-OP” indicating that the settings are not appropriate will be displayed, if all of the following
conditions are not met.
• The test without a motor function must be disabled (Pn00C.0 = 0).
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• The tuning-less function must be disabled (Pn170.0 = 0).
• The tuning mode must be set to 0 or 1 when performing speed control.
• The main circuit power must be ON.
• All alarms must be cleared.
• The hardwire baseblock (HWBB) must be disabled.
CAUTION
• Vibration or overshooting may occur during adjustment. To ensure safety, perform one-parameter tuning in
a state where the SERVOPACK can come to an emergency stop at any time.