Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference - Manual (Page 235)

6 Adjustments
6.4.2 Advanced Autotuning by Reference Procedure
6-32
6.4.2 Advanced Autotuning by Reference Procedure
The following procedure is used for advanced autotuning by reference.
Advanced autotuning by reference is performed from the digital operator (option) or SigmaWin+. The func-
tion cannot be performed from the panel operator.
Here, the operating procedure from the digital operator is described.
Refer to the Σ -V Series User’s Manual, Operation of Digital Operator (No.: SIEP S800000 55) for basic key
operations of the digital operator.
(1) Operating Procedure
Set the correct moment of inertia ratio in Pn103 by using the advanced autotuning before performing this pro-
cedure.
Step Display after Operation Keys Operation
1
Press the Key to view the main menu for the
utility function.
Use the
or Key to move through the list and
select Fn202.
2
Press the Key to display the initial setting screen
for advanced autotuning by reference.
3
Press the , , or Key and set the items in
steps 3-1 and 3-2.
3-1
Mode Selection
Select the mode.
Mode = 1: Makes adjustments considering response characteristics and stability (Standard level).
Mode = 2: Makes adjustments for positioning [Factory setting].
Mode = 3: Makes adjustments for positioning, giving priority to overshooting suppression.
3-2
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)
4
Press the Key. The advanced autotuning by ref-
erence execution screen will be displayed.
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.
5
Input servo ON signal (/S-ON) from an external
device.
6
Input a reference from the host controller and then
press the
or Key to start the adjustment.
"ADJ" will flash during adjustment on the status dis-
play.
Note: Adjustment cannot be performed during "BB"
is shown on the status display.
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