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

5.3 Advanced Autotuning (Fn201)
5-19
5
Adjustm
e
nts
• 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.
(4) Restrictions When Using an Encoder
With this function, the following restrictions are applied in accordance with the version number of the SER-
VOPACK software and the encoder being used.
The applicable servomotor depends on the type of encoder used.
• 13-bit encoder: SGMJV- A
• 20-bit or 17-bit encoder: SGM V- D , SGM V- 3
SGMPS- C , SGMPS- 2
∗1. The software version number of your SERVOPACK can be checked with Fn012.
∗2. If any mode other than Mode 1 is selected, tuning will fail and result in an error.
∗3. Model following control type is not used.
∗4. Position errors may result in overshooting when positioning. The positioning time may be extended if the positioning
completed width (Pn522) is set to a small value.
∗5. Model following control type 2 can suppress overshooting resulting from position errors better than Type 1. If com-
patibility with SERVOPACK version 0007 or earlier is required, use model following control type 1 (Pn14F.0 = 0).
The control related switch (Pn14F) was added to SERVOPACK software version 0008 or later.
• 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
Software Version *1
13-bit Encoder 20-bit or 17-bit Encoder
Mode
Model Following
Control Type
Mode
Model Following
Control Type
Version 0007 or ear-
lier
Only Mode 1 can be
selected.
*2
– *3 No restrictions
Type 1 *4
Version 0008 or lat-
er
Only Mode 1 can be
selected. Type 1 or 2 [Factory
setting]
*5
Parameter Function When Enabled Classification
Pn14F
n. 0 Model following control type 1
After restart Tuning
n. 1
[Factory set-
ting]
Model following control type 2