Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 192)

5.5 One-parameter Tuning (Fn203)
5-39
5
Adjustm
e
nts
Setting the Tuning Mode 2 or 3
Step Display after Operation Keys Operation
1
Press the Key to view the main menu for the
utility function.
Press the
or Key to move through the list
and select Fn203.
2
Press the Key to display the moment of inertia
ratio set in Pn103 at present. Move the digit with the
or Key and change the value with the
or Key.
3
Press the Key to display the initial setting screen
for one-parameter tuning.
4
Press the , , or Key and set the items in
steps 4-1 and 4-2.
4-1
Tuning Mode
Select the tuning mode. Select the tuning mode 2 or 3.
Tuning Mode = 2: Enables model following control and makes adjustments for positioning.
Tuning Mode = 3: Enables model following control, makes adjustments for positioning, and suppresses over-
shooting.
4-2
Type Selection
Select the type according to the machine element to be driven.
If there is noise or the gain does not increase, better 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).
5
If the servomotor power is OFF, send an SV_ON
command from the host controller. The display will
change from "BB" to "RUN."
If the servomotor power is ON, go to step 6.
6 Press the Key to display the set value.
7
Press the Key again to display FF LEVEL and
FB LEVEL setting screens.
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