YASKAWA SGMAH, User Manual

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Sigma II User’s Manual Chapter 6: Servo Adjustment
6 - 24
6.3 Auto-Tuning
If positioning is taking a long time, the speed loop gain or position loop gain of the servo
system may not be set properly. If the gain settings are wrong, set them properly in accor-
dance with the configuration and rigidity of the machinery.
The servo amplifier incorporates an online auto-tuning function, which checks the charac-
teristics of the machinery automatically and makes the necessary servo gain adjustments.
The function is easy to use and makes it possible for even beginners to perform servo gain
tuning and set all servo gains as parameters.
The following parameters can be set automatically by using the online auto-tuning func-
tion.
Parameter Description
Pn100 Speed loop gain
Pn101 Speed loop integral time constant
Pn102 Position loop gain
Pn401 Torque reference filter time constant
Load inertia
Servomotor
Servo amplifier
Friction
Autotuning
The characteristics of the machinery
are checked automatically for optimum
tuning.