Yaskawa Sigma-5 User Manual: Operation of Digital Operator User Manual
Page 96
3 Utility Function Mode
3.2.27 Advanced Autotuning (Fn201)
3-62
3-3
Type Selection
Select the type according to the machine element to be driven. If there is noise or the gain does not
increase, better results may be obtained by changing the rigidity type.
Type = 1: For belt drive mechanisms
Type = 2: For ball screw drive mechanisms [Factory setting]
Type = 3: For rigid systems in which the servomotor is directly coupled to the machine (without gear
or other transmissions)
3-4
STROKE (Travel Distance) Setting
Travel distance setting range:
The travel distance setting range is from -99990000 to +99990000. Specify the STROKE (travel
distance) in increments of 1000 reference units. The negative (-) direction is for reverse rotation,
and the positive (+) direction is for forward rotation.
Initial value:
About 3 rotations*
* If the servomotor’s encoder resolution is 1048576 (20-bit), the STROKE (travel distance) will be
set to +800000. If the electronic gear ratio is set to the factory setting (Pn20E=4, Pn210=1), the
initial value is calculated as shown with the following equation.
Notes:
• Set the number of motor rotations to at least 0.5; otherwise, “Error” will be displayed and the
travel distance cannot be set.
• To calculate the moment of inertia and ensure precise tuning, it is recommended to set the number
of motor rotations to around 3.
• For an SGMCS direct drive servomotor, the factory setting for the number of motor rotations is
0.3 or equivalent.
4
Press the
Key to display the
advanced autotuning execution screen.
5
Press the
Key. The servomotor
power will be ON and the display will
change from “BB” to “RUN.”
Note: If the mode is set to 2 or 3, the
“Pn102” display will change to the
“Pn141.”
(cont’d)
Step
Display after Operation
Keys
Operation
×
800000
1048576
4
1
3
rotations
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