YASKAWA SGD7S-****20A Series

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8.5 Estimating the Moment of Inertia

8.5.4 Operating Procedure

Tuning

8-23

18.

Click the Execute Button.

If the setting of the moment of inertia ratio (Pn103) was changed, the new value will be saved and the

Tuning Dialog Box will be displayed again.

This concludes the procedure to estimate the moment of inertia ratio.

Main Page

Table of Contents29
Basic Information on29
Actual Operation34
The Σ-7 Series40
Interpreting the Nameplate41
Part Names42
Model Designations44
- Interpreting SERVOPACK Model Numbers44
- Interpreting Servomotor Model Numbers45
Combinations of Servopacks and Servomotors47
- Combinations of Rotary Servomotors and Servopacks47
- Combinations of Direct Drive Servomotors and Servopacks48
- Combinations of Linear Servomotors and Servopacks49
- Combinations of Linear Servomotors and Servopacks50
Functions51
- Selecting a SERVOPACK54
Ratings and Specifications55
- Ratings55
- SERVOPACK Overload Protection Characteristics58
- Specifications59
Functions61
Block Diagrams62
- SGD7S-R70A, -R90A, and -1R6A62
- Sgd7S-2R8A62
- SGD7S-3R8A, -5R5A, and -7R6A63
- Sgd7S-120A64
- SGD7S-180A and -200A66
- Sgd7S-330A67
- SGD7S-470A and -550A68
- SGD7S-590A and -780A69
- SGD7S-R70F, -R90F, and -2R1F69
- Sgd7S-2R8F70
External Dimensions71
- Front Cover Dimensions and Connector Specifications71
- SERVOPACK External Dimensions72
Examples of Standard Connections between Servopacks and Peripheral Devices78
SERVOPACK Installation80
Installation Precautions81
Mounting Types and Orientation82
Mounting Hole Dimensions83
Mounting Interval85
- Installing One SERVOPACK in a Control Panel85
- Installing more than One SERVOPACK in a Control Panel85
Monitoring the Installation Environment86
Derating Specifications87
EMC Installation Conditions88
- Wiring and Connecting Servopacks91
Wiring and Connecting Servopacks93
- General Precautions93
- Countermeasures against Noise96
- Grounding99
Basic Wiring Diagrams100
Wiring the Power Supply to the SERVOPACK102
- Terminal Symbols and Terminal Names102
- Wiring Procedure for Main Circuit Connector105
- Power on Sequence106
- Power Supply Wiring Diagrams107
- Wiring Regenerative Resistors113
- Wiring Reactors for Harmonic Suppression115
Wiring Servomotors116
- Terminal Symbols and Terminal Names116
- Pin Arrangement of Encoder Connector (CN2)116
- Wiring the SERVOPACK to the Encoder117
- Wiring the SERVOPACK to the Holding Brake123
I/O Signal Connections124
- I/O Signal Connector (CN1) Names and Functions124
- I/O Signal Connector (CN1) Pin Arrangement126
- I/O Signal Wiring Examples127
- I/O Circuits129
Connecting Safety Function Signals131
- Pin Arrangement of Safety Function Signals (CN8)131
- I/O Circuits131
Connecting MECHATROLINK Communications Cables133
Connecting the Other Connectors134
- Serial Communications Connector (CN3)134
- Computer Connector (CN7)134
- Analog Monitor Connector (CN5)134
- Basic Functions that Require Setting before Operation135
Manipulating Parameters (Pn)138
- Parameter Classification138
- Notation for Parameters139
- Parameter Setting Methods140
- Write Prohibition Setting for Parameters141
- Initializing Parameter Settings144
MECHATROLINK-III Communications Settings146
- Communications Settings146
- Setting the Station Address146
Power Supply Type Settings for the Main Circuit and Control Circuit147
- AC Power Supply Input/DC Power Supply Input Setting147
- Single-Phase AC Power Supply Input/Three-Phase AC Power Supply Input Setting148
Automatic Detection of Connected Motor149
Motor Direction Setting150
Setting the Linear Encoder Pitch151
Writing Linear Servomotor Parameters152
Selecting the Phase Sequence for a Linear Servomotor156
Polarity Sensor Setting158
Polarity Detection159
- Restrictions159
- Using the SV_ON (Servo ON) Command to Perform Polarity Detection160
- Detection160
- Using a Tool Function to Perform Polarity Detection161
Overtravel and Related Settings162
- Overtravel Signals162
- Setting to Enable/Disable Overtravel163
- Motor Stopping Method for Overtravel163
- Overtravel Warnings165
Holding Brake166
- Brake Operating Sequence166
- BK (Brake) Signal168
- Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped169
- Output Timing of /BK (Brake) Signal When the Servomotor Is Operating169
Motor Stopping Methods for Servo off and Alarms171
- Stopping Method for Servo off172
- Servomotor Stopping Method for Alarms172
Motor Overload Detection Level174
- Detection Timing for Overload Warnings (A.910)174
- Detection Timing for Overload Warnings174
- Detection Timing for Overload Alarms (A.720)175
Electronic Gear Settings176
- Electronic Gear Ratio Settings177
- Electronic Gear Ratio Setting Examples181
Resetting the Absolute Encoder182
- Precautions on Resetting182
- Preparations182
- Applicable Tools183
- Operating Procedure183
Setting the Origin of the Absolute Encoder185
- Absolute Encoder Origin Offset185
- Setting the Origin of the Absolute Linear Encoder185
Setting the Regenerative Resistor Capacity188
Σ-V Compatible Function and Settings189
- Setting the Communications Interface Compatibility Selection189
- Setting the Encoder Resolution Compatibility Selection189
- Application Functions190
I/O Signal Allocations194
- Input Signal Allocations194
- Output Signal Allocations195
- I/O Signal Allocations195
- ALM (Servo Alarm) Signal197
- WARN (Warning) Signal198
- TGON (Rotation Detection) Signal198
- S-RDY (Servo Ready) Signal199
- V-CMP (Speed Coincidence Detection) Signal200
- COIN (Positioning Completion) Signal201
- NEAR (Near) Signal202
- Speed Limit During Torque Control203
Operation for Momentary Power Interruptions205
SEMI F47 Function206
Setting the Motor Maximum Speed208
Encoder Divided Pulse Output209
- Encoder Divided Pulse Output Signals209
- Setting for the Encoder Divided Pulse Output214
Software Limits216
- Setting to Enable/Disable Software Limits216
- Setting the Software Limits216
- Software Limit Check for References216
Selecting Torque Limits217
- Internal Torque Limits217
- External Torque Limits218
- CLT (Torque Limit Detection) Signal221
Absolute Encoders222
- Connecting an Absolute Encoder223
- Structure of the Position Data of the Absolute Encoder223
- Output Ports for the Position Data from the Absolute Encoder224
- Reading the Position Data from the Absolute Encoder225
- Transmission Specifications226
- Calculating the Current Position in Machine Coordinates226
- Alarm Output from Output Ports for the Position Data from the Absolute Encoder227
- Multiturn Limit Setting228
- Multiturn Limit Disagreement Alarm (A.CC0)229
Absolute Linear Encoders232
- Connecting an Absolute Linear Encoder232
- Structure of the Position Data of the Absolute Linear Encoder232
- Output Ports for the Position Data from the Absolute Linear Encoder233
- Linear Encoder233
- Reading the Position Data from the Absolute Linear Encoder234
- Transmission Specifications234
- Calculating the Current Position in Machine Coordinates235
- Alarm Output from the Output Ports for the Position Data from the Absolute Linear Encoder236
Software Reset237
- Preparations237
- Applicable Tools237
- Operating Procedure238
Initializing the Vibration Detection Level240
- Preparations240
- Applicable Tools241
- Operating Procedure241
- Related Parameters243
Adjusting the Motor Current Detection Signal Offset244
- Automatic Adjustment244
- Manual Adjustment246
Forcing the Motor to Stop248
- FSTP (Forced Stop Input) Signal248
- Stopping Method Selection for Forced Stops248
- Resetting Method for Forced Stops250
Overheat Protection251
- Connecting the Overheat Protection Input (TH) Signal251
- Connecting the Overheat Protection Input (TH)251
- Overheat Protection Selection252
- Trial Operation and Actual Operation253
Flow of Trial Operation254
- Flow of Trial Operation for Rotary Servomotors254
- Flow of Trial Operation for Linear Servomotors256
Inspections and Confirmations before Trial Operation258
Trial Operation for the Servomotor Without a Load259
- Preparations259
- Applicable Tools260
- Operating Procedure260
Trial Operation with MECHATROLINK-III Communications262
Trial Operation with the Servomotor Connected to the Machine264
- Precautions264
- Preparations264
- Operating Procedure265
Convenient Function to Use During Trial Operation266
- Program Jogging266
- Origin Search271
- Test Without a Motor273
Operation Using MECHATROLINK-III Commands278
- Tuning279
Overview and Flow of Tuning282
- Tuning Functions283
- Diagnostic Tool284
Monitoring Methods285
Precautions to Ensure Safe Tuning286
- Overtravel Settings286
- Torque Limit Settings286
- Setting the Position Deviation Overflow Alarm Level286
- Alarm Level286
- Vibration Detection Level Setting288
- Setting the Position Deviation Overflow Alarm Level at Servo on288
- Setting the Position Deviation Overflow Alarm Level at Servo on289
Tuning-Less Function290
- Application Restrictions290
- Operating Procedure291
- Troubleshooting Alarms292
- Parameters Disabled by Tuning-Less Function293
- Automatically Adjusted Function Setting293
- Related Parameters293
Estimating the Moment of Inertia294
- Outline294
- Restrictions294
- Applicable Tools295
- Operating Procedure295
Autotuning Without Host Reference302
- Outline302
- Restrictions303
- Applicable Tools304
- Operating Procedure304
- Operating Procedure306
- Troubleshooting Problems in Autotuning Without a Host Reference308
- Automatically Adjusted Function Settings310
- Related Parameters312
Autotuning with a Host Reference313
- Outline313
- Restrictions314
- Applicable Tools314
- Operating Procedure314
- Troubleshooting Problems in Autotuning with a Host Reference318
- Automatically Adjusted Function Settings318
- Related Parameters319
Custom Tuning320
- Outline320
- Preparations320
- Applicable Tools321
- Operating Procedure321
- Automatically Adjusted Function Settings327
- Tuning Example for Tuning Mode 2 or 3327
- Related Parameters328
Anti-Resonance Control Adjustment329
- Outline329
- Preparations329
- Applicable Tools330
- Operating Procedure330
- Related Parameters332
- Suppressing Different Vibration Frequencies with Anti-Resonance Control332
Vibration Suppression334
- Outline334
- Preparations335
- Applicable Tools335
- Operating Procedure335
- Setting Combined Functions337
- Related Parameters337
Speed Ripple Compensation338
- Outline338
- Setting up Speed Ripple Compensation338
- Setting Parameters342
Additional Adjustment Functions344
- Gain Switching344
- Gain Switching345
- Friction Compensation348
- Gravity Compensation350
- Current Control Mode Selection351
- Current Gain Level Setting352
- Speed Detection Method Selection352
- Speed Feedback Filter352
- Backlash Compensation353
Manual Tuning359
- Tuning the Servo Gains359
- Compatible Adjustment Functions370
Diagnostic Tools374
- Mechanical Analysis374
- Mechanical Analysis375
- Easy FFT376
- Easy FFT377
- Monitoring380
Monitoring Product Information381
- Items that You Can Monitor381
- Operating Procedures381
Monitoring SERVOPACK Status382
- Servo Drive Status382
- Monitoring Status and Operations382
- I/O Signal Monitor384
Monitoring Machine Operation Status and Signal Waveforms385
- Items that You Can Monitor385
- Using the Sigmawin386
- Using the Analog Monitors388
- Using the Analog Monitors390
Monitoring Product Life392
- Items that You Can Monitor392
- Operating Procedure393
- Preventative Maintenance394
Alarm Tracing395
- Data for Which Alarm Tracing Is Performed395
- Applicable Tools395
- Fully-Closed Loop Control396
Fully-Closed System397
SERVOPACK Commissioning Procedure398
Parameter Settings for Fully-Closed Loop Control400
- Control Block Diagram for Fully-Closed Loop Control400
- Setting the Motor Direction and the Machine Movement Direction401
- Setting the Number of External Encoder Scale Pitches402
- Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output) Signals402
- External Absolute Encoder Data Reception Sequence403
- Electronic Gear Setting403
- Alarm Detection Settings404
- Analog Monitor Signal Settings405
- Setting to Use an External Encoder for Speed Feedback405
Introduction to the Safety Functions407
- Safety Functions407
- Precautions for Safety Functions407
Hard Wire Base Block (HWBB)408
- Risk Assessment409
- Hard Wire Base Block (HWBB) State410
- Resetting the HWBB State411
- Related Commands412
- Detecting Errors in HWBB Signal412
- HWBB Input Signal Specifications412
- Operation Without a Host Controller413
- S-RDY (Servo Ready Output) Signal413
- BK (Brake Output) Signal414
- Stopping Methods414
- ALM (Servo Alarm) Signal414
EDM1 (External Device Monitor)415
- EDM1 Output Signal Specifications415
Applications Examples for Safety Functions416
- Connection Example416
  - Failure Detection Method416
  - Procedure417
Validating Safety Functions418
Connecting a Safety Function Device419
- Maintenance420
Inspections and Part Replacement421
- Inspections421
- Guidelines for Part Replacement421
  - Replacing the Battery422
Alarm Displays424
- List of Alarms424
Warning Displays468
- List of Warnings468
- Troubleshooting Warnings470
Monitoring Communications Data During Alarms or Warnings477
Troubleshooting Based on the Operation and Conditions of the Servomotor478
Parameter Lists488
List of Servo Parameters489
- Interpreting the Parameter Lists489
- List of Servo Parameters490
List of MECHATROLINK-III Common Parameters529
- Interpreting the Parameter Lists529
- List of MECHATROLINK-III Common Parameters530
Parameter Recording Table538
- Appendices550
Interpreting Panel Displays551
- Interpreting Status Displays551
- Alarm and Warning Displays551
- Hard Wire Base Block Active Display551
- Overtravel Display551
- Forced Stop Display551
Corresponding SERVOPACK and Sigmawin+ Function Names552
- Corresponding SERVOPACK Utility Function Names552
- Corresponding SERVOPACK Monitor Display Function Names553

YASKAWA SGD7S-****20A Series - Page 301

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