Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference - Manual (Page 219)

6 Adjustments
6.2.2 Tuning-less Levels Setting (Fn200) Procedure
6-16
Note: If the rigidity level is changed, the automatically set notch filter will be canceled. If vibration occurs, however, the
notch filter will be set again automatically.
(3) Operating Procedure with Panel Operator
(4) Alarm and Corrective Actions
The autotuning alarm (A.521) will occur if resonance sound is generated or excessive vibration occurs during
position control. In such case, take the following actions.
Resonance Sound
Reduce the setting of the rigidity level or load level.
Excessive Vibration during Position Control
Take one of the following actions to correct the problem.
• Increase the setting of the rigidity level or reduce the load level.
• Increase the setting of Pn170.3 or reduce the setting of Pn170.2.
6
Press the Key to complete the tuning-less func-
tion. The screen in step 1 will appear again.
(cont’d)
Step Display after Operation Keys Operation
㧾㨁㧺    ̆㧲㨁㧺㧯㨀㧵㧻㧺̆
㧲㨚㧜㧟㧜
㧲㨚㧞㧜㧜
㧲㨚㧞㧜㧝
㧲㨚㧞㧜㧞
Step Display after Operation Keys Operation
1
Press the MODE/SET Key to select the utility func-
tion.
2 Press the UP or the DOWN Key to select the Fn200.
3
Press the DATA/SHIFT Key for approximately one
second to display the load level of the tuning-less
mode setting screen.
Note:
If the response waveform causes overshooting or if
the load moment of inertia exceeds the allowable
level (i.e., outside the scope of product guarantee),
press the UP Key and change the load level to 2.
4
Press the MODE/SET Key to display the rigidity
level of the tuning-less mode setting screen.
5
Press the UP or the DOWN Key to select the rigidity
level.
Select the rigidity level from 0 to 4. The larger the
value, the higher the gain is and the better response
performance will be. (The factory setting is 4.)
Notes:
• Vibration may occur if the rigidity level is too high.
Lower the rigidity level if vibration occurs.
• If high-frequency noise is generated, press the
DATA/SHIFT Key to automatically set a notch fil-
ter to the vibration frequency.
6
Press the MODE/SET Key. “donE” will flash for
approximately one second and then L0004 will be
displayed. The settings are saved in the SERVO-
PACK.
7
Press the DATA/SHIFT Key for approximately one
second. "Fn200" is displayed again.
MODE/SET DATA/
MODE/SET DATA/
Load level
MODE/SET DATA/
MODE/SET DATA/
Rigidity level
MODE/SET DATA/
MODE/SET DATA/
MODE/SET DATA/