Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 151)

5 Adjustments
5.2.2 Tuning-less Levels Setting (Fn200) Procedure
5-14
Note: If the gain level is changed, the automatically set notch filter will be canceled. If vibration occurs, however, the
notch filter will be set again.
(3) Alarm and Corrective Actions
The autotuning alarm (A.521) will occur if resonance is generated or excessive vibration occurs during posi-
tion control.
Resonance Sound
Take one of the following actions to correct the problem.
• Reduce the setting of the tuning adjustment level or load level.
• Reduce the setting of Pn170.3 or Pn170.2.
Excessive Vibration during Position Control
Take one of the following actions to correct the problem.
• Increase the setting of the tuning load level or reduce the setting of the tuning adjustment level.
• Increase the setting of Pn170.3 or reduce the setting of Pn170.2.
(4) Parameters Disabled by Tuning-less Function
When the tuning-less function is enabled in the factory settings, the setting of these parameters are not avail-
able: Pn100, Pn101, Pn102, Pn103, Pn104, Pn105, Pn106, Pn160, Pn139, and Pn408. These gain-related
parameters, however, may become effective depending on the executing conditions of the functions specified
in the following table. If EasyFFT is executed when the tuning-less function is enabled, the settings in Pn100,
Pn104, Pn101, Pn105, Pn102, Pn106, and Pn103, as well as the manual gain switch setting, will be enabled,
but the settings in Pn408.3, Pn160.0, and Pn139.0 will be not enabled
.
Note: : Available
× : Not available
5
Press the Key. “DONE” will blink on the status
display for approx. 2 s and then “RUN” will be dis-
played. The settings will be saved in the SERVO-
PACK.
6
Press the Key to complete the tuning-less opera-
tion. The screen in step 1 will appear again.
(cont’d)
Step Display after Operation Keys Operation
㧾㨁㧺  ̆㨀㨡㨚㨑㧸㨢㨘㧿㨑㨠̆

ޓ㧸㨑㨢㨑㨘㧩㧠
㧾㨁㧺    ̆㧲㨁㧺㧯㨀㧵㧻㧺̆
㧲㨚㧜㧟㧜
㧲㨚㧞㧜㧜
㧲㨚㧞㧜㧝
㧲㨚㧞㧜㧞
Parameters Disabled by Tuning-less Function Related Functions and Parameters
Item Name Pn Number
Torque
Control
Easy
FFT
Mechanical
Analysis
(Vertical Axis
Mode)
Gain
Speed Loop Gain
2nd Speed Loop Gain Pn100
Pn104
Speed Loop Integral Time
Constant
Pn101
×
2nd Speed Loop Integral Time
Constant
Pn105
Position Loop Gain
2nd position Loop Gain Pn102
Pn106
×
Moment of Inertia Ratio Pn103
Advanced
Control
Friction Compensation Switch Pn408.3 × × ×
Anti-resonance Control Switch Pn160.0 × × ×
Gain
Switching
Gain Switching Switch Pn139.0 × × ×