Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 241)

8 Adjustments
8.3.1 Advanced Autotuning
8-14
1. Advanced autotuning performs automatic operation accompanied by vibration. Ensure that an
emergency stop is possible while advanced autotuning is being performed. Also, confirm the range and
direction of motion and provide protective devices to ensure safety in the event of overtravel or other
unexpected movement. Normally, set the level in step 5 showed in 8.3.2 to “normal” or “lose”.
2. This function can select “Not estimates moment of inertia ratio (MODE:1),” but in this case, set the cor-
rect moment of inertia ratio in Pn103 before using this function.
3. Advanced autotuning sets the servo gain according to the Positioning Completed Width (Pn522).
Set the Positioning Completed Width to the value that will be used in normal operation.
4. Make sure that the following are properly set before starting the advanced autotuning.
• The main circuit power is input.
• The servo is OFF.
• Overtravel does not occur in the servomotor. The forward run prohibited (P-OT) and reverse run prohib-
ited (N-OT) signals are not input.
• Pn110 = n. 2 (Performs manual tuning but not normal autotuning)
• Pn10B = n. 2 (Less deviation control is not used)
• Pn200=n. 0 (Clears position error pulse at the baseblock)
• The Clear signal is at L (low) level (Not to clear).
• Pn150 =
0 (Predictive control is not used)
IMPORTANT