38 (1) preparation, 2) restrictions when using an encoder – Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference User Manual

Page 241

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6 Adjustments

6.5.1 One-parameter Tuning

6-38

(1) Preparation

Check the following settings before performing one-parameter tuning.

The message “NO-OP” indicating that the settings are not appropriate will be displayed, if all of the following
conditions are not met.

• The test without a motor function must be disabled (Pn00C.0 = 0).
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• The tuning-less function must be disabled (Pn170.0 = 0).
• The tuning mode must be set to 0 or 1 when performing speed control.

(2) 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 Tuning 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.

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

Tuning mode can be
set to only 0 or 1.

*2

*3

No restrictions

Type 1

*4

Version 0008 or lat-

er

No restrictions

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 setting]

Model following control type 2

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