Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 163)

5 Adjustments
5.4.2 Advanced Autotuning by Reference Procedure
5-26
5.4.2 Advanced Autotuning by Reference Procedure
The following procedure is used for advanced autotuning by reference.
Advanced autotuning by reference is performed from the Digital Operator (option) or SigmaWin+.
The operating procedure from the Digital Operator is described here.
For basic operations of the Digital Operator, refer to the Σ -V series User’s Manual, Operation of Digital Oper-
ator (SIEP S800000 55).
(1) Operating Procedure
Step Display after Operation Keys Operation
1
Press the Key to view the main menu for the
utility function mode.
Use the
or Key to move through the list,
select Fn202.
2
Press the Key to display the initial setting screen
for advanced autotuning by reference.
3
Press the or Key and set the items in
steps 3-1 and 3-2.
3-1
Mode Selection
Select the mode.
Mode = 1: Makes adjustments considering responsiveness and stability. (Standard level)
Mode = 2: Makes adjustments for positioning. [Factory setting]
Mode = 3: Makes adjustments for positioning, giving priority to overshooting suppression.
Note: The mode is always set to 1 if a 13-bit encoder is used (applicable servomotor: SGMJV-
A ).
3-2
Type Selection
Select the type according to the machine element to be driven.
If there is noise or the gain does not increase, better results may be obtained by changing the rigid type.
Type = 1: For belt drive mechanisms.
Type = 2: For ball screw drive mechanisms [Factory setting].
Type = 3: For rigid systems, such as a gear.
4
Press the Key. The advanced autotuning execu-
tion screen will be displayed.
Note: If the mode is set to 2 or 3, the “Pn102” display
will change to the “Pn141”.
5 Input a servo ON command.
6
Start to adjust using or Key. “ADJ” will
blink on the status display.
Note: Adjustment cannot be performed during “BB”
is shown on the status display.
7
When the adjustment has been completed normally,
“END” will blink for approx. 2 seconds and “ADJ”
will be displayed on the status display.
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