Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 169)

5 Adjustments
5.5.2 One-parameter Tuning Procedure
5-32
5.5.2 One-parameter Tuning Procedure
The following procedure is used for one-parameter tuning.
Operation procedures will vary in accordance with the tuning mode being used.
• When the tuning mode is set to 0 with priority given to stability or when the tuning mode is set to 1 with pri-
ority given to responsiveness, refer to (1) Setting the Tuning Mode to 0 or 1.
• When the tuning mode is set to 2 or 3 for adjustments in positioning, refer to (2) Setting the Tuning Mode to
2 or 3.
One-parameter tuning 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) Setting the Tuning Mode to 0 or 1
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 Fn203.
2
Press the Key to display the moment of inertia
ratio set in Pn103 at present. To change the setting,
move the cursor with the
or Key and
change the set value with the or Key.
Note: If the display does not switch and “NO-OP” is
displayed, take corrective action after checking
the items given in 5.5.1 (1) Before Performing
One-parameter Tuning.
3
Press the Key to display the initial setting screen
for one-parameter tuning.
4
Press the , or Key and set the items in
steps 4-1 and 4-2.
4-1
Tuning Mode Selection
Select the tuning Mode. Select the tuning mode 0 or 1.
Tuning Mode = 0: Makes adjustments giving priority to stability.
Tuning Mode = 1: Makes adjustments giving priority to responsiveness.
Tuning Mode = 2: Makes adjustments for positioning.
Tuning Mode = 3: Makes adjustments for positioning, giving priority to overshooting suppression.
4-2
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.
5
Input a servo ON command from the host controller.
The display will change from “BB” to “RUN.”
6 Press the Key to display the set value.
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