Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 162)

5.4 Advanced Autotuning by Reference (Fn202)
5-25
Adjustments
(1) Before Performing Advanced Autotuning by Reference
Check the following settings before performing advanced autotuning by reference. The message “NO-OP”
indicating that the settings are not appropriate will be displayed, if all of the following conditions are not met.
• The main circuit power supply must be ON.
• There must be no overtravel.
• The servomotor power must be OFF.
• The position control must be selected when the servomotor power is ON.
• The gain selection switch must be in manual switching mode (Pn139.0 = 0).
• Gain setting 1 must be selected.
• The test without a motor function must be disabled. (Pn00C.0 = 0).
• All alarms and warnings must be cleared.
• The hardwire baseblock (HWBB) must be OFF.
• The write prohibited setting (Fn010) must not be set to write-protect parameters.
• The tuning-less function must be disabled (Pn170.0 = 0).
• The SENS_ON command is received. (when an absolute encoder is used.)
(2) When Advanced Autotuning by Reference Cannot Be Adjusted
Advanced autotuning by reference may not be performed normally under the following conditions. If the
result of autotuning is not satisfactory, perform one-parameter tuning. Refer to 5.5 One-parameter Tuning
(Fn203) for details.
• The travel distance in response to references from the host controller is the same as or smaller than the set
positioning completed width (Pn522).
• The motor speed in response to references from the host controller is the same as or smaller than the set rota-
tion detection level (Pn502).
• The stopping time, i.e., the period while the positioning completed /COIN signal is OFF, is 10 ms or shorter.
• The rigidity of the load is low and vibration occurs when positioning is performed.
• The position integration function is used.
• P control operation (proportional control) is performed.
• The mode switch is used.
• The positioning completed width (Pn522) is too small.
Change only the overshoot detection level (Pn561) to finely adjust the without changing the positioning com-
pleted width (Pn522). Because Pn561 is set by default to 100%, the allowable amount of overshooting is the
same amount as that for the positioning completed width.
When Pn561 is set to 0%, the amount of overshooting can be adjusted without any overshooting in the posi-
tioning completed width. If the setting of Pn561 is changed, however, the positioning time may be extended.
• Advanced autotuning by reference makes adjustments based on the positioning com-
pleted width (Pn522). Set the electronic gear ratio (Pn20E/Pn210) and positioning
completed width (Pn522) to the actual value during operation.
• Unless the positioning completed signal (/COIN) is turned ON within approximately 3
seconds after positioning has been completed, “WAITING” will blink. Furthermore,
unless the positioning completed signal (/COIN) is turned ON within approximately 10
seconds, “Error” will blink for 2 seconds and tuning will be aborted.
Pn561
Overshoot Detection Level
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 100 1% 100 Immediately Setup
Speed Position Torque