YASKAWA E-S Series

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8.5 Custom Tuning

8.5.3 Operating Procedure

8-18

If the moment of inertia ratio is not set correctly, correct the setting and then click the

Next Button.

Change to the SERVO ON state, enter a reference from the host controller, and then

click the Start tuning Button.

Tuning Mode 0 or 1

Tuning Mode 2 to 3

Main Page

Default Chapter19
- Table of Contents19
- Basic Information25
The Σ-S Series26
Interpreting the Nameplate27
- Servomotor Nameplate27
- SERVOPACK Nameplate27
Part Names28
- Servomotor Part Names28
- SERVOPACK Part Names28
- Status Indicators29
Model Designations30
- Interpreting Servomotor Model Numbers30
- Interpreting SERVOPACK Model Numbers30
- Combinations of Servopacks and Servomotors30
- Selection31
System Configuration Example33
Ratings and Specifications34
- Servomotor Specifications34
- Servomotor Ratings35
- Torque-Motor Speed Characteristics35
- Servomotor Overload Protection Characteristics36
- Servomotor Heat Dissipation Conditions36
- SERVOPACK Ratings37
- SERVOPACK Specifications37
External Dimensions40
- Servomotor External Dimensions40
- SERVOPACK External Dimensions41
Selecting the Servomotor Capacity42
- Example of Capacity Selection for Servomotors42
Selecting Cables44
- Cable Selection Table44
- Power Supply Input Cables44
- User-Assembled Wiring Materials for Power Supply Input Cable45
- Servomotor Power Cables46
- Encoder Cable47
- I/O Signal Cables48
- Computer Cable49
Selecting Peripheral Devices50
- Recommended Power Supply50
- Molded-Case Circuit Breakers and Fuse Capacity50
- Magnetic Contactors51
- Noise Filters52
Sigmawin+: AC Servo Drive Engineering Tool53
- Installation54
Servomotor Installation55
- Installation Precautions55
- Installation Environment56
- Installation Orientation56
Coupling to the Machine57
- Using a Coupling57
- Using a Belt58
Oil and Water Countermeasures59
Servomotor Temperature Increase60
SERVOPACK Installation61
- Installation Precautions61
- Mounting and Securing Servopacks63
- Installation Orientation63
- Wiring and Connections64
Wiring Precautions65
- General Precautions65
- Countermeasures against Noise67
- Grounding69
Basic Wiring Diagrams70
Wiring the Power Supply to the SERVOPACK71
- Power Supply Input Connector (CN3) Details71
- Power on Sequence71
- Power Supply Wiring Diagrams72
Wiring Servomotors74
- Wiring Precautions74
- Pin Arrangement of Servomotor Connector (CN4)75
- Pin Arrangement of Encoder Connector (CN2)76
- Wiring the SERVOPACK to the Encoder76
I/O Signal Connections77
- I/O Signal Connector (CN1) Signal Names and Functions77
- Pin Arrangement of I/O Signal Connector (CN1)80
- I/O Circuits81
Connecting to the Computer Connector (CN5)83
- Setup84
Manipulating Parameters (Pn)86
- Parameter Classification86
- Notation for Parameters87
- Parameter Setting Methods88
- Initializing Parameter Settings89
Servomotor Selection92
Sequence I/O Signals93
- Input Signals93
- Output Signals96
- Allocating Input Signals to Pins and Parameter Settings101
- Allocating Output Signals to Pins and Parameter Settings103
- Setting I/O Signal Status with Parameters105
Settings that Must be Adjusted to the System106
- Motor Direction Setting106
- Electronic Gear Settings106
- Torque Limit Selection108
- Movement Method and Coordinate Settings110
- Motor Overload Detection Level111
- Software Reset113
- Adjusting the Motor Current Detection Signal Offset115
Settings for References116
- Smoothing116
- Trial Operation117
Flow of Trial Operation118
Inspections and Confirmations before Trial Operation119
Trial Operation for the Servomotor Without a Load120
- Preparations120
- Operating Procedure120
Convenient Function to Use During Trial Operation122
- Program Jog Operation122
- Origin Search126
- Operation and Functions128
Operation Functions129
Homing130
- Parameters Related to Homing130
- I/O Signals Related to Homing134
- Homing Procedures135
Program Table Operation140
- Types of Operation140
- Parameter Related to Program Table Operation144
- I/O Signals Related to Program Table Operation145
- Program Table Configuration145
- Settings in the Program Table146
- Sigmawin+ Procedures148
- Program Table Operation Examples161
Jog Operation170
- Jog Speeds170
- I/O Signals Related to Jog Operation170
- Setting the Jog Speeds170
ZONE Outputs172
- ZONE Table and ZONE Signals172
- Sigmawin+ Procedures174
- ZONE Output Application Example175
- Tuning177
Overview and Flow of Tuning179
- Tuning Function179
Monitoring Methods180
Precautions to Ensure Safe Tuning181
- Torque Limit Settings181
- Setting the Position Deviation Overflow Alarm Level181
- Setting the Position Deviation Overflow Alarm Level at SERVO on183
Estimating the Moment of Inertia184
- Outline184
- Restrictions184
- Operating Procedure185
Custom Tuning191
- Outline191
- Preparations191
- Operating Procedure192
- Automatically Adjusted Function Settings197
- Tuning Example for Tuning Mode 2 or 3198
- Related Parameters199
Anti-Resonance Control Adjustment200
- Outline200
- Preparations200
- Operating Procedure201
- Related Parameters203
Vibration Suppression204
- Outline204
- Preparations205
- Operating Procedure205
- Related Parameters207
Manual Tuning208
- Tuning the Servo Gains208
- Feedforward217
- Mode Switching (Changing between Proportional and PI Control)217
- Monitoring220
Monitoring Product Information221
- Items that You Can Monitor221
- Operating Procedure221
Monitoring SERVOPACK Status222
- System Monitor222
- Monitoring Status and Operations222
- I/O Signal Monitor224
Monitoring Machine Operation Status and Signal Waveforms225
- Items that You Can Monitor225
- Using the Sigmawin225
- Maintenance227
Alarm and Warning Displays228
- 10.1.1 Confirming Alarms and Warnings228
- List of Alarms229
- Troubleshooting Alarms231
- List of Warnings241
- 10.1.5 Troubleshooting Warnings242
- List of Errors243
- 10.1.7 Alarm Reset244
- 10.1.8 Displaying the Alarm History244
- Alarm History Clear245
Troubleshooting Based on the Operation and Conditions of the Servo Drive246
Inspections and Guideline for Product Replacement Period250
- 10.3.1 Inspections250
- 10.3.2 Guideline for Product Replacement Period250
- Parameter List251

YASKAWA E-S Series - Page 194

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