Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 356)

11.3 Using the Adjusting Command (ADJ: 3EH)
11-41
4. Use the following data to check when settings have been completed.
Set “00H” (Data reference) in the CCMD field.
Set “2010H” in the CADDRESS field.
5. Confirm that the response is correct and that CMDRDY or STATUS is set to 1. Confirm that the value of
the CDATA field in the response field is the machine rigidity you set.
If a response is returned with the rigidity setting that is being made, the rigidity setting has been
completed.
This completes changing the machine rigidity setting using normal autotuning.
Note: A correct response satisfies the following conditions.
• CCMD in the command and CANS in the response are the same.
• CADDRESS is the same in the command and response. (When written, confirm that CDATA is the same in the
command and response.)
• The alarm bits and warning bits in STATUS are 0.
(3) Saving Results of Normal Autotuning
Normal autotuning always processes the latest load moment of inertia to renew data so that the speed loop gain
will reach the target value that has been set. When the SERVOPACK is turned OFF, all the processed data is lost.
Therefore, when the SERVOPACK is turned ON again, normal autotuning is performed by processing the
factory-set values in the SERVOPACK.
To save the results of normal autotuning and use them as the initial values set in the SERVOPACK when the
SERVOPACK is turned ON again, it is necessary to save them according to the procedures for saving the results
of normal autotuning. In this case, the inertia ratio set in parameter Pn103 can be changed.
On the basis of the rotor moment of inertia of the servomotor, the inertia ratio is expressed in percentage terms by
the load moment of inertia. The value set in Pn103 is used to calculate the load moment of inertia at the time of
normal autotuning.
The moment of inertia ratio is factory-set to 0%.
Before making servo gain adjustments manually, be sure to set the moment of inertia ratio in Pn103. If the
moment of inertia ratio is incorrect, the speed loop gain (unit: Hz) set in Pn100 will be wrong.
• Procedure for Saving Results of Normal Autotuning
The Adjusting command (ADJ: 3EH) is used to save the results of normal autotuning.
The procedure for saving results is shown below.
The result of normal autotuning can also be saved by the utility function Fn007 using a digital operator.
Pn103 Moment of Inertia Ratio
Setting Range Setting Unit Factory Setting Setting Validation
0 to 20000% 1% 0% After restart
Position
Inertia ratio =
Motor axis conver sion load moment of inertia (J
L
)
Servomotor rotor moment of inertia (J
M
)
× 100(%)
IMPORTANT
INFO