YASKAWA SGD7S-xxxDA0 series Product Manual

Contents

9.8 Custom Tuning9.8.1 Outline9-419 Tuning9.8 Custom TuningThis section describes custom tuning.9.8.1 OutlineYou can use custom tuning to manually adjust the servo during operation using a speed orposition reference input from the host controller. You can use it to fine-tune adjustments thatwere made with autotuning.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 controlRefer to the following section for details on the parameters that are adjusted.9.8.7 Related Parameters on page 9-49There are two adjustment methods that you can use for custom tuning. Tuning Mode 0 (Setting Servo Gains Giving Priority to Stability) or 1 (Setting ServoGains Giving Priority to Good Response)These modes allow you to set stable control conditions for multiple servo gains by manipu-lating only one tuning level. Automatic setting of notch filters and anti-resonance control isprovided if vibration is detected. Manual anti-resonance control adjustment is also possibleduring custom tuning. Tuning Mode 2 (Setting Servo Gains Giving Priority to Position Control Applications)or 3 (Setting Servo Gains Giving Priority to Preventing Overshooting in Position Con-trol Applications)Two tuning levels are manipulated to reduce positioning time even further and set multipleservo gains.Model following control is used to reduce the positioning time. If vibration is detected, notchfilters and anti-resonance control are automatically adjusted, and friction compensation isautomatically set. Manual anti-resonance control adjustment and vibration suppression arealso possible during custom tuning.9.8.2 PreparationsCheck the following settings before you execute custom tuning.• The test without a motor function must be disabled (Pn00C = n.0).• The tuning-less function must be disabled (Pn170 = n.0).• If speed control is used, tuning mode 0 or 1 must be set.• The parameters must not be write prohibited.CAUTION Vibration or overshooting may occur during custom tuning. To ensure safety, make sure thatyou can perform an emergency stop at any time.