Yaskawa Sigma-5 User Manual: Design and Maintenance - Linear Motors MECHATROLINK-III Communications Reference - Manual (Page 167)

5.3 Advanced Autotuning (Fn201)
5-17
5
Adjustments
• Anti-resonance control
• Vibration suppression (Mode = 2 or 3)
Refer to 5.3.3 Related Parameters for parameters used for adjustments.
(1) Preparation
Check the following settings before performing advanced autotuning.
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 control method must not be set to force control.
• 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 warning must be cleared.
• The hardwire baseblock (HWBB) must be disabled.
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• Jcalc must be set to ON to calculate the mass when the tuning-less function is enabled (Pn170.0 = 1: fac-
tory setting) or the tuning-less function must be disabled (Pn170.0 = 0).
Note:
• If advanced autotuning is started while the SERVOPACK is in speed control, the mode will change to position
control automatically to perform advanced autotuning. The mode will return to speed control after completing the
adjustment. To perform advanced autotuning in speed control, set the mode to 1 (Mode = 1).
(2) When Advanced Autotuning Cannot Be Performed
Advanced autotuning cannot be performed normally under the following conditions. Refer to 5.4 Advanced
Autotuning by Reference (Fn202) and 5.5 One-parameter Tuning (Fn203) for details.
• The machine system can work only in a single direction.
• The operating range is 5 mm or less.
(3) When Advanced Autotuning Cannot Be Performed Successfully
Advanced autotuning cannot be performed successfully under the following conditions. Refer to 5.4
Advanced Autotuning by Reference (Fn202) and 5.5 One-parameter Tuning (Fn203) for details.
• The operating range is not applicable.
• The mass changes within the set operating range.
• The machine has high friction.
• The rigidity of the machine is low and vibration occurs when positioning is performed.
• The position integration function is used.
• P control operation (proportional control) is used.
Note:If a setting is made for calculating the mass, an error will result when P control operation is selected using /V_PPI
of the servo command output signals (SVCMD_IO) while the mass is being calculated.
• The mode switch is used.
Note:If a setting is made for calculating the mass, the mode switch function will be disabled while the mass is being cal-
culated. At that time, PI control will be used. The mode switch function will be enabled after calculating the mass.
• Speed feedforward or force feedforward is input.
• The positioning completed width (Pn522) is too small.
CAUTION
• Because advanced autotuning adjusts the SERVOPACK during automatic operation, vibration or over-
shooting may occur. To ensure safety, perform advanced autotuning in a state where the SERVOPACK
can come to an emergency stop at any time.