Yaskawa DR2 Sigma Servo - Manual (Page 447)

SERVO ADJUSTMENT
B.3.1 Adjusting Using Auto-tuning
436
B.3 Adjusting a Servopack for Position Control
This section gives examples of adjusting the gains of a Servopack for position control
manually and using auto-tuning.
B.3.1 Adjusting Using Auto-tuning 436 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.3.2 Manual Adjustment 437 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.3.1 Adjusting Using Auto-tuning
The DR1 Servopack does not offer auto-tuning.
1) Important Points About Auto-tuning
a) Speed During Auto-tuning
Auto-tuning may not function correctly if the speed is too low. Set the speed to approx-
imately 500 r/min.
Set the speed with the user constant Cn-10 (Jog speed).
b) Selecting Machine Rigidity
If the machine rigidity is unknown, select the rigidity according to the following stan-
dards.
Drive Method Machine Rigidity
DR2, SGDA, SGDB SGD
Ball screw, direct 3 (C-003) to 7 (C-007) High/medium response
Ball screw, with reduction gears 2 (C-002) to 3 (C-003) Medium response
Timing belt 1 (C-001) to 3 (C-003) Low/medium response
Chain 1 (C-001) to 2 (C-002) Low response
Wave reductiongears* 1 (C-001) to 2 (C-002) Low response
* Product name: Harmonic Drive
Select the machine rigidity level for DR2, SGDA and SGDB according to the table.
Level Rigidity
7 (C-007) High
6 (C-006) ⋮
5 (C-005) ⋮
4 (C-004) ⋮
3 (C-003) Medium
2 (C-002) ⋮
1 (C-001) Low
B