YASKAWA MECHATROLINK Sigma 2 Series User Manual

Appendix C Using the Adjusting Command (ADJ: 3EH)
C.1.1 Online Autotuning
C-4
 Setting Parameters for Online Autotuning
The following flowchart shows the procedure for setting the parameters for online
autotuning.
* Before making servo gain adjustments manually, refer to 9.4 Servo Gain Adjustment Functions
of the Σ -II Series SGM  H/SGDH User’s Manual (SIEPS80000005).
Start
Operate with factory
settings of parameters.
Set to always perform tuning.
(Set Pn110.0 to 1.)
Adjust the machine rigidity
setting.
Clear the online autotuning.
(Set Pn110.0 to 2.)
Ye s
Load
moment of inertia
changes?
Operation
OK?
Adjust the friction
compensation.
(Set in Pn110.2.)
End
Make servo gain
adjustments manually*:
No
Ye s
No
Ye s
No
Ye s
No
Ye s
No
Save the results of autotuning to
parameters. From the next time,
execute autotuning using the
saved value as the initial
value.
Operation
OK?
Operation
OK?
Operation
OK?

YASKAWA MECHATROLINK Sigma 2 Series Specifications

General

Brand	YASKAWA
Model	MECHATROLINK Sigma 2 Series
Category	Control Unit
Language	English