YASKAWA JUSP-MD D01A Series - Procedure for Calculating the Moment of Inertia

6 Adjustments
6.2.2 Procedure for Calculating the Moment of Inertia
6-12
(2) When Advanced Autotuning Cannot Be Performed
Advanced autotuning cannot be performed normally under the following conditions. Make adjustments using
one-parameter tuning (Fn203).
• The machine system can work only in a single direction.
• The operating range is within 0.5 rotation.
One-parameter Tuning (Fn203): Refer to 6.3 One-parameter Tuning (Fn203) .
(3) When Advanced Autotuning Cannot Be Performed Successfully
The moment of inertia cannot be calculated successfully under the following conditions. Make adjustments
using one-parameter tuning (Fn203).
• The operating range is not applicable.
• The moment of inertia changes within the set operating range.
• The machine has high friction.
• The rigidity of the machine is low and vibration occurs when positioning is performed.
• The position integration function is used.
• P control operation (proportional control) is used.
Note:If a setting is made for calculating the moment of inertia, an error will result when P control operation is selected
using /P-CON signal while the moment of inertia is being calculated.
• The mode switch is used.
Note:If a setting is made for calculating the moment of inertia, the mode switch function will be disabled while the
moment of inertia is being calculated. At that time, PI control will be used. The mode switch function will be
enabled after calculating the moment of inertia.
• Speed feedforward or torque feedforward is input.
One-parameter Tuning (Fn203): Refer to 6.3 One-parameter Tuning (Fn203) .
6.2.2 Procedure for Calculating the Moment of Inertia
The procedure to calculate the moment of inertia is given below.
Moment of inertia calculation is performed from the digital operator (optional) or SigmaWin+.
The procedure from the digital operator is described here.
During execution, you cannot change Pn103 (Moment of Inertia Ratio) from the SigmaWin+ or by any other
means.
(1) Operating Procedure
Step Display after Operation Keys Operation
1
Press the Key to view the main menu for the util-
ity function mode. Use the or Key to move
through the list, and select Fn201.
2
Press the Key to display the initial setting screen
for Fn201 (Advanced Autotuning).
Only the moment of inertia calculation can be used.
3
Press the or Key and set the items in step 3-
1.
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