YASKAWA SGD7S-xxxDA0 series Product Manual

Contents

9.6 Autotuning without Host Reference9.6.3 Applicable Tools9-259 TuningPreparationsCheck the following settings before you execute autotuning without a host reference.• The main circuit power supply must be ON.• There must be no overtravel.• The servo must be OFF.• The control method must not be set to torque control.• The first gains must be selected.• The test without a motor function must be disabled (Pn00C = n.0).• There must be no alarms or warnings.• There must be no hard wire base block (HWBB).• The parameters must not be write prohibited.• The tuning-less function must be disabled (Pn170 = n.0), or the tuning-less functionmust be enabled (Pn170 = n.1) and moment of inertia estimation must be specified.• If you execute autotuning without a host reference during speed control, set the mode to 1.9.6.3 Applicable ToolsThe following table lists the tools that you can use to perform autotuning without a host refer-ence and the applicable tool functions.9.6.4 Operating ProcedureUse the following procedure to perform autotuning without a host reference.1. Confirm that the moment of inertia ratio (Pn103) is set correctly.2. Click the Servo Drive Button in the workspace of the Main Window of the Sig-maWin+.3. Select Tuning in the Menu Dialog Box.The Tuning Dialog Box will be displayed.Click the Cancel Button to cancel tuning.• If you start autotuning without a host reference while the SERVOPACK is in speed controlfor mode 2 or 3, the SERVOPACK will change to position control automatically to performautotuning without a host reference. The SERVOPACK will return to speed control afterautotuning has been completed.InformationTool Function Operating Procedure ReferenceDigital Operator Fn201 Σ-7-Series Digital Operator OperatingManual (Manual No.: SIEP S800001 33)SigmaWin+ Tuning - Tuning 9.6.4 Operating Procedure on page 9-25CAUTION If you specify not estimating the moment of inertia, set the moment of inertia ratio (Pn103)correctly. If the setting greatly differs from the actual moment of inertia ratio, normal controlof the machine may not be possible, and vibration may result.