Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 172)

5.5 One-parameter Tuning (Fn203)
5-35
Adjustments
7
Adjust the responsiveness by changing the FF and FB
levels.
Press the
Key to display the present level. Move
the cursor with the Key and change the set value
with the with the or Keys.
After the setting is changed, press the Key.
The higher the level, the greater the responsiveness
will be. If the value is too large, however, vibration
will occur.
If that occurs, press the
Key. The SERVOPACK
will automatically detect the vibration frequencies
and make notch filter or anti-resonance control set-
tings. When the notch filter is set, “NF1” or “NF2”
will be displayed on the bottom row.
When the anti-resonance control is set, “ARES” is
displayed.
Notes:
• If the vibration is great, the vibration frequency
will be detected even if the Key is not pressed
and a notch filter or anti-resonance control will be
set.
• The higher the FF level, the shorter the positioning
time will be. If the level is too high, however, over-
shooting will occur.
• If the FF level is changed when the servomotor is
stopped and no reference is input, this new value
will be effective, and the servomotor’s responsive-
ness will be changed. To safely adjust the FF level,
wait until all operations have been completed and
check the responsiveness. When the FF level is
changed largely, vibration may occur because the
responsiveness is changed rapidly.
• The message, “FF LEVEL”, blinks until the
machine reaches the effective FF level. If the ser-
vomotor does not stop approximately 10 seconds
after the FF level is changed, the setting is no
longer effective and will automatically return to the
previous setting.
• If the vibration is too small, the SERVOPACK may
not automatically detect the vibration frequencies.
If so, press the
Key to forcibly start the detec-
tion.
8
Press the Key. A confirmation screen is dis-
played after level adjustment.
9
• Press the Key. The adjusted values will be
written to the SERVOPACK, “DONE” will be dis-
played for approx. 2 seconds, and then “RUN” will
be displayed.
• Not to save the values set in step 7, press the
Key.
The screen in step 7 will appear with the
Key.
10
Press the Key to complete the one-parameter
tuning operation. The screen in step 1 will appear
again.
(cont’d)
Step Display after Operation Keys Operation
㧾㨁㧺ޓ ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆
㧲㧲ޓ㧸㧱㨂㧱㧸㧩㧜㧜㧡㧜㧚㧜
㧲㧮ޓ㧸㧱㨂㧱㧸㧩㧜㧜㧠㧜㧚㧜
ޓ㧺㧲㧝ޓޓޓޓޓޓޓ㧭㧾㧱㧿 㧺㧲㧞
㧾㨁㧺   ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆
㧼㨚㧝㧜㧜㧩㧜㧜㧠㧜㧜
㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜
㧼㨚㧝㧠㧝㧩㧜㧜㧡㧜㧜
 㧺㧲㧝
㧾㨁㧺  ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆
㧼㨚㧝㧜㧜㧩㧜㧜㧠㧜㧜
㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜
㧼㨚㧝㧠㧝㧩㧜㧜㧡㧜㧜
 㧺㧲㧝
㧾㨁㧺    ̆㧲㨁㧺㧯㨀㧵㧻㧺̆
㧲㨚㧞㧜㧞㧦㧾㨑㨒㧭㧭㨀
㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚
㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎ޓ㧿㨡㨜
㧲㨚㧞㧜㧡㧦㨂㨕㨎ޓ㧿㨡㨜