YASKAWA MECHATROLINK Sigma 2 Series - Machine Rigidity Settings for Online Autotuning

C.1 Autotuning
C-5
C
C.1.2 Machine Rigidity Settings for Online Autotuning
For the machine rigidity settings at the time of online autotuning, select the target values for
speed loop gain and position loop gain of the servo system. Any of the following ten levels
of rigidity can be selected.
Note: The rigidity value is factory-set to 4.
As the rigidity value is increased, the servo system loop gain increases and the time required
for positioning is shortened. If the rigidity is excessively high, however, it may cause the
machine to vibrate. In that case, decrease the set value.
The rigidity value setting automatically changes the parameters in the above table.
If parameters Pn102, Pn100, Pn101, and Pn401 are set manually with the online autotuning function
enabled, tuning is performed with the manually set values as target values.
Machine
Rigidity
Setting
Fn001
Position Loop
Gain
[S
-1
]
Pn102
Speed Loop Gain
[Hz]
Pn100
Speed Loop
Integral Time
Constant
[0.01ms]
Pn101
Torque Reference
Filter Time
Constant [0.01ms]
Pn401
1 15 15 6000 250
2 20 20 4500 200
3 30 30 3000 130
4 40 40 2000 100
5 60 60 1500 70
6 85 85 1000 50
7 120 120 800 30
8 160 160 600 20
9 200 200 500 15
10 250 250 400 10
INFO