YASKAWA SGDH User Manual

9 Adjustments
9.2.2 Online Autotuning Procedure
9-6
9.2.2 Online Autotuning Procedure
• Do not perform extreme adjustment or setting changes causing unstable servo operation.
Failure to observe this warning may result in injury and damages to the machine.
• Adjust the gains slowly while confirming motor operation.
WARNING
Start
Operate with factory setting.
(Set Pn110.0 = 0.)
Operation OK?
Load moment of
inertia varies?
Operation OK?
Continuous online autotuning.
(Set Pn110.0 = 1.)
Ajust the machine rigidity setting.
(Set at Fn001.)
Operation OK?
Operation OK?
Do not perform online autotuning.
(Set Pn110.0 = 2.)
Adjust the friction compensation.
(Set Pn110.2.)
Yes
Yes
Yes
Yes
Yes
No
No
No
No
No
End
Write the result of autotuning
in the parameter.
The result will be used as the
default vaue for next autotuning.
(Utility function Fn007)

YASKAWA SGDH Specifications

General

Series	SGDH
Position Control	Yes
Speed Control	Yes
Torque Control	Yes
Protection Class	IP20
Type	Servo Drive
Communication	MECHATROLINK-II, MECHATROLINK-III, EtherCAT
Feedback System	Incremental Encoder, Absolute Encoder