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

Page 226

Advertising
background image

6.3 Advanced Autotuning (Fn201)

6-23

6

Adjustm

e

nts

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.

• For an SGMCS direct drive servomotor, the factory setting for distance is set to a value that is equivalent to

0.3 motor rotations.

4

Press the

Key. The advanced autotuning execu-

tion screen will be displayed.

5

Press the

Key. The servomotor power will be

ON and the display will change from "BB" to
"RUN."
Note: If the mode is set to 1, Pn102 is displayed. If

the mode is set to 2 or 3, the Pn102 display will
change to the Pn141.

6

Display example:
After the moment of inertia is
calculated.

Calculates the moment of inertia.
Press the

Key if a positive (+) value is set in

STROKE (travel distance), or press the

Key if a

negative (-) value is set. Calculation of the moment of
inertia will start. While the moment of inertia is being
calculated, the set value for Pn103 will flash and
“ADJ” will flash instead of “RUN.” When calculat-
ing the moment of inertia is completed, the display
will stop flashing and the moment of inertia is dis-
played. The servomotor will remain ON, but the auto
run operation will be stopped temporarily.
Notes:

• The wrong key for the set travel direction is

pressed, the calculation will not start.

• If the moment of inertia is not calculated (Jcalc =

OFF), the set value for Pn103 will be displayed.

• If "NO-OP" or "Error" is displayed during opera-

tion, press the

Key to cancel the function.

Refer to (2) Failure in Operation and take a cor-
rective action to enable operation.

7

After the servomotor is temporarily stopped, press the

Key to save the calculated moment of inertia

ratio in the SERVOPACK. “DONE” will flash for one
second, and “ADJ” will be displayed again.
Notes:
To end operation by calculating only the moment of
inertia ratio and without adjusting the gain, press the

Key to end operation.

(cont’d)

Step

Display after Operation

Keys

Operation

㧮㧮    㧭 㨐㨢㨍㨚㨏㨑㨐  㧭㨀
㧼㨚㧝㧜㧟㧩㧜㧜㧝㧜㧜
㧼㨚㧝㧜㧜㧩㧜㧜㧠㧜㧜 
㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜 
㧼㨚㧝㧜㧞㧩㧜㧜㧠㧜㧜

R U N

   㧭 㨐㨢㨍㨚㨏㨑㨐  㧭㨀

㧼㨚㧝㧜㧟㧩㧜㧜㧝㧜㧜
㧼㨚㧝㧜㧜㧩㧜㧜㧠㧜㧜
㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜
㧼㨚㧝 㧠 㧝㧩㧜㧜㧡㧜㧜

㧭㧰㧶   㧭㨐㨢㨍㨚㨏㨑㨐  㧭㨀
㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜
㧼㨚㧝㧜㧜㧩㧜㧜㧠㧜㧜
㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜
㧼㨚㧝㧠㧝㧩㧜㧜㧡㧜㧜

Advertising