Yaskawa Sigma-5 User Manual: Design and Maintenance - Linear Motors MECHATROLINK-III Communications Reference User Manual
Page 170
5 Adjustments
5.3.2 Advanced Autotuning Procedure
5-20
3-4
STROKE (Travel Distance) Setting
Travel distance setting range:
The travel distance setting range is from -99990000 to +99990000 [reference unit]. Specify the STROKE
(travel distance) in increments of 1000 reference units. The negative (-) direction is for reverse movement,
and the positive (+) direction is for forward movement.
Initial value:
About 90 mm
Notes:
• Set the travel distance to at least 5 mm; otherwise, "Error" will be displayed and the travel distance cannot be
set.
• To calculate the mass and ensure precise tuning, it is recommended to set the travel distance to about 90 mm.
4
Press the
Key. The advanced autotuning execu-
tion screen will be displayed.
5
Press the
Key. The servomotor power will be
ON and the display will change from "BB" to
"RUN."
Note: If the mode is set to 1, Pn102 is displayed. If
the mode is set to 2 or 3, the Pn102 display will
change to the Pn141.
6
Display example:
After the mass is calculated.
Calculates the mass.
Press the
Key if a positive (+) value is set in
STROKE (travel distance), or press the
Key if a
negative (-) value is set. Calculation of the mass will
start. While the mass is being calculated, the set value
for Pn103 will flash and “ADJ” will flash instead of
“RUN.” When calculating the mass is completed, the
display will stop flashing and the mass is displayed.
The servomotor will remain ON, but the auto run
operation will be stopped temporarily.
Notes:
• The wrong key for the set travel direction is
pressed, the calculation will not start.
• If the mass is not calculated (Jcalc = OFF), the set
value for Pn103 will be displayed.
• If "NO-OP" or "Error" is displayed during opera-
tion, press the
Key to cancel the function.
Refer to (2) Failure in Operation and take a cor-
rective action to enable operation.
7
After the servomotor is temporarily stopped, press the
Key to save the calculated mass ratio in the
SERVOPACK. “DONE” will flash for one second,
and “ADJ” will be displayed again.
Note: To end operation by calculating only the mass
ratio and without adjusting the gain, press the
Key to end operation.
8
Gain Adjustment
When the
or
Key is pressed according to
the sign (+ or -) of the value set for stroke (travel dis-
tance), the calculated value of the mass ratio will be
saved in the SERVOPACK and the auto run operation
will restart. While the servomotor is running, the fil-
ters, and gains will be automatically set. "ADJ" will
flash during the auto setting operation.
Note: Precise adjustments cannot be made and
"Error" will be displayed as the status if there is
machine resonance when starting adjustments.
If that occurs, make adjustments using one-
parameter tuning (Fn203).
(cont’d)
Step
Display after Operation
Keys
Operation
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