Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Analog Voltage and Pulse Train Reference - Manual (Page 233)

6 Adjustments
6.3.2 Advanced Autotuning Procedure
6-22
6.3.2 Advanced Autotuning Procedure
The following procedure is used for advanced autotuning.
Advanced autotuning is performed from the digital operator (option) or SigmaWin+. The function cannot be
performed from the panel operator.
The operating procedure from the digital operator is described here.
Refer to the Σ -V Series User’s Manual, Operation of Digital Operator (No.: SIEP S800000 55) for basic key
operations of the digital operator.
(1) Operating Procedure
Step Display after Operation Keys Operation
1
Press the Key to view the main menu for the
utility function.
Use the
or Key to move through the list,
select Fn201.
2
Press the Key to display the initial setting screen
for Fn201(Advanced Autotuning).
3
Press the , , or Key and set the items in
steps 3-1 to 3-4.
3-1
Calculating Moment of Inertia
Select the mode to be used.
Usually, set Jcalc to ON.
Jcalc = ON: Moment of inertia calculated [Factory setting]
Jcalc = OFF: Moment of inertia not calculated
Note:
If the moment of inertia ratio is already known from the machine specifications, set the value in Pn103
and set Jcalc to OFF.
3-2
Mode Selection
Select the mode.
Mode = 1: Makes adjustments considering response characteristics and stability (Standard level).
Mode = 2: Makes adjustments for positioning [Factory setting].
Mode = 3: Makes adjustments for positioning, giving priority to overshooting suppression.
3-3
Type Selection
Select the type according to the machine element to be driven. If there is noise or the gain does not increase, bet-
ter results may be obtained by changing the rigidity type.
Type = 1: For belt drive mechanisms
Type = 2: For ball screw drive mechanisms [Factory setting]
Type = 3: For rigid systems in which the servomotor is directly coupled to the machine (without gear or other
transmissions)
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 rotation,
and the positive (+) direction is for forward rotation.
Initial value:
About 3 rotations
Notes:
• Set the number of motor rotations to at least 0.5; otherwise, "Error" will be displayed and the travel distance
cannot be set.
• To calculate the moment of inertia and ensure precise tuning, it is recommended to set the number of motor
rotations to around 3.
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