YASKAWA E-7S SERVOPACK SGD7S - 8.7 Autotuning with a Host Reference

8.7 Autotuning with a Host Reference
8.7.1 Outline
8-34
8.7 Autotuning with a Host Reference
This section describes autotuning with a host reference.
8.7.1 Outline
Autotuning with a host reference automatically makes optimum adjustments for operation refer-
ences from the host controller.
The following items are adjusted automatically.
• Gains (e.g., speed loop gain and position loop gain)
• Filters (torque reference filter and notch filters)
• Friction compensation
• Anti-resonance control
• Vibration suppression
Refer to the following section for details on the parameters that are adjusted.
8.7.7 Related Parameters on page 8-40
Autotuning with a host reference makes adjustments based on the set speed loop gain (Pn100).
Therefore, precise adjustments cannot be made if there is vibration when adjustments are
started. Make adjustments after lowering the speed loop gain (Pn100) until vibration is eliminated.
Important
CAUTION
 Because autotuning with a host reference adjusts the SERVOPACK during automatic opera-
tion, vibration or overshooting may occur. To ensure safety, make sure that you can perform
an emergency stop at any time.
Movement
speed
Operation
references
Host controller
SERVOPACK
Servomotor
Travel Distance
Responses
References
Travel Distance