Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors User Manual
Page 171
5 Adjustments
5.5.2 One-parameter Tuning Procedure
5-34
(2) Setting the Tuning Mode to 2 or 3
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 2 or 3.
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 an 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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