Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Mechatrolink-III Communication Reference - Manual (Page 186)

5 Adjustments
5.3.1 Advanced Autotuning
5-20
(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 moment of inertia 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 moment of inertia, an error will result when P control operation is selected
using /V_PPI of the servo command output signals (SVCMD_IO) while the moment of inertia is being calculated.
• The mode switch is used.
Note:If a setting is made for calculating the moment of inertia, the mode switch function will be disabled while the
moment of inertia is being calculated. At that time, PI control will be used. The mode switch function will be
enabled after calculating the moment of inertia.
• Speed feedforward or torque feedforward is input.
• The positioning completed width (Pn522) is too small.
Change only the overshoot detection level (Pn561) to finely adjust the amount of overshooting without chang-
ing the positioning completed width (Pn522). Because Pn561 is set by default to 100%, the allowable amount
of overshooting is the same amount as that for the positioning completed width.
When Pn561 is set to 0%, the amount of overshooting can be adjusted to prevent overshooting the positioning
completed width. If the setting of Pn561 is changed, however, the positioning time may be extended.
• Advanced autotuning makes adjustments by referring to the positioning completed
width (Pn522). If the SERVOPACK is operated in position control (Pn000.1=1), set the
electronic gear ratio (Pn20E/Pn210) and positioning completed width (Pn522) to the
actual value during operation. If the SERVOPACK is operated in speed control
(Pn000.1=0), set Mode to 1 to perform advanced autotuning.
• Unless the positioning completed signal (/COIN) is turned ON within approximately 3
seconds after positioning has been completed, "WAITING" will flash. Furthermore,
unless the positioning completed signal (/COIN) is turned ON within approximately 10
seconds, "Error" will flash for 2 seconds and tuning will be aborted.
Pn561
Overshoot Detection Level
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 100 1% 100 Immediately Setup
Speed Position Torque