YASKAWA SGD7S series User Manual

8.5 Estimating the Moment of Inertia
8.5.2 Restrictions
8
Tuning
8-17
8.5.2 Restrictions
The following restrictions apply to estimating the moment of inertia.
Systems for which Execution Cannot Be Performed
• When the machine system can move only in one direction
• When the range of motion is 0.5 rotations or less
Systems for Which Adjustments Cannot Be Made
Accurately
• When a suitable range of motion is not possible
• When the moment of inertia changes within the set operating range
• When the machine has high dynamic friction
• When the rigidity of the machine is low and vibration occurs when positioning is performed
• When the position integration function is used
• When proportional control is used
Note:If you specify calculating the moment of inertia, an error will occur if the /P-CON (Proportional Control) sig-
nal changes to specify the proportional action during moment of inertia estimation.
• When mode switching is used
Note:If you specify moment of inertia estimation, mode switching will be disabled and PI control will be used
while the moment of inertia is being calculated. Mode switching will be enabled after moment of inertia esti-
mation has been completed.
• When speed feedforward or torque feedforward is input
Preparations
Always check the following before you execute moment of inertia estimation.
• 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 gain selection switch must be set to manual gain selection (Pn139 = n.0).
• 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).
8.5.3 Applicable Tools
The following table lists the tools that you can use to estimate the moment of inertia and the
applicable tool functions.
Tool Function Operating Procedure Reference
Panel Operator You cannot estimate the moment of inertia from the Panel Operator.
Digital Operator You cannot estimate the moment of inertia from the Digital Operator.
SigmaWin+ Tuning - Tuning
8.5.4 Operating Procedure on page 8-18

YASKAWA SGD7S series Specifications

General

Series	SGD7S
Safety	STO (Safe Torque Off)
Humidity	90% RH or less (non-condensing)
Control Method	PWM Control
Communication	EtherCAT, MECHATROLINK-III, MECHATROLINK-II
Output Power	0.1 kW to 15 kW
Feedback System	Incremental encoder, Absolute encoder
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overload, Overheating, Encoder Error
Ambient Temperature	0 to 55°C
Storage Temperature	-20 to 85°C
Vibration Resistance	5.9 m/s²
Installation	Panel mounted
Certifications	CE, UL, cUL