Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 243)

8 Adjustments
8.3.2 Advanced Autotuning Procedure
8-16
Example: When the calculation of moment of
inertia is executed.
R U N A D V A N C E D A T
P n 1 0 3 = 1 2 3 0 0
P n 1 0 0 = 0 0 4 0 . 0
P n 1 0 1 = 0 1 5 . 9 1
P n 1 0 2 = 0 0 4 0 . 0
Operation Key Description Display
R U N A D V A N C E D A T
P n 1 0 3 = 0 0 0 0 0
P n 1 0 0 = 0 0 4 0 . 0
P n 1 0 1 = 0 1 5 . 9 1
P n 1 0 2 = 0 0 4 0 . 0
Press the Key to turn the servo ON. The indication
BB changes to RUN.
Press the Key (forward run start) for one second or more
when a positive (+) value is set in STROKE in the initial
setting display, or press the Key (reserve run start) for
one second or more when a negative (-) value is set, and the
calculation of the moment of inertia starts.
If you press the incorrect key for the set travel direction
(+ or -), the calculation will not starts.
While the moment of inertia is being calculated,
of Pn103 is highlighted.
When the calculation is completed, is no longer
highlighted and the calculated load moment of inertia is
displayed.
The servo remains ON, but the auto run operation enters
in HOLD status.
∗When the moment of inertia is not being calculated,
the current value for Pn103 is displayed but not
highlighted.
∗To cancel the auto run operation, press the Key and the
servo motor stops. Then, the main menu of the utility
function mode appears.
∗If the tuning operation or the calculation of the moment of
inertia is disabled, NO-OP is displayed and highlighted,
and then the main menu of the utility function mode appears.
Take corrective action to enable the operation.
∗If the calculation of the moment of inertia could not be
completed normally because the required conditions are not
fulfilled, Pn103 = ERROR is highlighted and displayed.
Press the Key to cancel the function, modify the
settings, and then restart.
A d j A D V A N C E D A T
P n 1 0 3 = 0 0 1 2 3
P n 1 0 0 = 0 0 6 3 . 0
P n 1 0 1 = 0 1 7 . 0 0
P n 1 0 2 = 0 0 6 3 . 0
D o n e A D V A N C E D A T
P n 1 0 3 = 0 0 1 2 3
P n 1 0 0 = 0 0 6 3 . 0
P n 1 0 1 = 0 1 7 . 0 0
P n 1 0 2 = 0 0 6 3 . 0
Press the or Key according to the sign (+ or -) of
the value set for STROKE in the initial setting display, and
the calculated value of the moment of inertia is written in the
SERVOPACK and the auto run operation restarts.
While the servomotor is running, the notch filter, the torque
reference filter, and various gains are automatically set.
"Adj" is displayed and highlighted during the auto setting.
If the advanced autotuning has completed normally,
press the Key. The calculated values for the servo
gains and filter time constants are written in the
SERVOPACK and "Done" is displayed and highlighted
for two seconds.
∗If you do not want to save the calculated values for
the servo gains and filter time constants in the
SERVOPACK, Press the Key.
start.
normally,