YASKAWA SGD7S

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8.6 Autotuning without Host Reference

8.6.4 Operating Procedure

8-29

Tuning

Click the Servo ON Button.

Click the Start tuning Button.

Main Page

Table of Contents26
Basic Information on26
The Σ-7 Series39
Interpreting the Nameplate40
Part Names41
Model Designations43
- Interpreting SERVOPACK Model Numbers43
- Interpreting Servomotor Model Numbers44
Combinations of Servopacks and Servomotors45
- Combinations of Rotary Servomotors and Servopacks45
- Combinations of Direct Drive Servomotors and Servopacks46
- Combinations of Linear Servomotors and Servopacks47
- Combinations of Linear Servomotors and Servopacks48
Functions49
- Selecting a SERVOPACK52
Ratings and Specifications53
- Ratings53
- SERVOPACK Overload Protection Characteristics56
- Specifications57
Block Diagrams62
- SGD7S-R70A, -R90A, and -1R6A62
- Sgd7S-2R8A62
- SGD7S-3R8A, -5R5A, and -7R6A63
- Sgd7S-120A64
- SGD7S-180A and -200A65
- Sgd7S-330A66
- SGD7S-470A and -550A67
- SGD7S-590A and -780A68
- SGD7S-R70F, -R90F, and -2R1F68
- Sgd7S-2R8F69
External Dimensions70
- Front Cover Dimensions and Connector Specifications70
- SERVOPACK External Dimensions71
Examples of Standard Connections between Servopacks and Peripheral Devices77
SERVOPACK Installation79
Installation Precautions80
Mounting Types and Orientation81
Mounting Hole Dimensions82
Mounting Interval84
- Installing One SERVOPACK in a Control Panel84
- Installing more than One SERVOPACK in a Control Panel84
Monitoring the Installation Environment85
Derating Specifications86
EMC Installation Conditions87
- Wiring and Connecting Servopacks88
Wiring and Connecting Servopacks90
- General Precautions90
- Countermeasures against Noise92
- Grounding95
Basic Wiring Diagrams96
Wiring the Power Supply to the SERVOPACK98
- Terminal Symbols and Terminal Names98
- Wiring Procedure for Main Circuit Connector101
- Power on Sequence102
- Power Supply Wiring Diagrams103
- Wiring Regenerative Resistors109
- Wiring Reactors for Harmonic Suppression111
Wiring Servomotors112
- Terminal Symbols and Terminal Names112
- Pin Arrangement of Encoder Connector (CN2)112
- Wiring the SERVOPACK to the Encoder113
- Wiring the SERVOPACK to the Encoder114
- Wiring the SERVOPACK to the Holding Brake119
I/O Signal Connections120
- I/O Signal Connector (CN1) Names and Functions120
- I/O Signal Connector (CN1) Pin Arrangement123
- I/O Signal Wiring Examples124
- I/O Circuits130
Connecting Safety Function Signals135
- Pin Arrangement of Safety Function Signals (CN8)135
- I/O Circuits135
Connecting the Other Connectors137
- Serial Communications Connector (CN3)137
- Computer Connector (CN7)137
- Analog Monitor Connector (CN5)137
Manipulating Parameters (Pn)141
- Parameter Classification141
- Notation for Parameters142
- Parameter Setting Methods143
- Write Prohibition Setting for Parameters145
- Initializing Parameter Settings148
Control Method Selection150
Power Supply Type Settings for the Main Circuit and Control Circuit151
- AC Power Supply Input/DC Power Supply Input Setting151
- Single-Phase AC Power Supply Input/Three-Phase AC Power Supply Input Setting152
Automatic Detection of Connected Motor153
Functions and Settings for the /S-ON (Servo ON) Signal154
- Function of the /S-ON (Servo ON) Signal154
- Setting to Keep the Servo on and Supply Power to the Motor Continuously154
Motor Direction Setting155
Setting the Linear Encoder Pitch156
Writing Linear Servomotor Parameters157
Selecting the Phase Sequence for a Linear Servomotor162
Polarity Sensor Setting164
Polarity Detection165
- Restrictions165
- Using the /S-ON (Servo ON) Signal to Perform Polarity Detection166
- Using the /P-DET (Polarity Detection) Signal to Perform Polarity Detection167
  - Detection167
  - Using a Tool Function to Perform Polarity Detection168
Overtravel and Related Settings169
- Overtravel Signals170
- Setting to Enable/Disable Overtravel170
- Motor Stopping Method for Overtravel171
- Overtravel Warnings172
Holding Brake174
- Brake Operating Sequence174
- BK (Brake) Signal175
- Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped176
- Output Timing of /BK (Brake) Signal When the Servomotor Is Operating177
Motor Stopping Methods for Servo off and Alarms179
- Stopping Method for Servo off180
- Servomotor Stopping Method for Alarms180
Motor Overload Detection Level182
- Detection Timing for Overload Warnings (A.910)182
- Detection Timing for Overload Warnings182
- Detection Timing for Overload Alarms (A.720)183
Electronic Gear Settings184
- Electronic Gear Ratio Settings185
- Electronic Gear Ratio Setting Examples188
Resetting the Absolute Encoder189
- Precautions on Resetting189
- Preparations189
- Applicable Tools190
- Operating Procedure190
Setting the Origin of the Absolute Encoder192
- Setting the Origin of the Absolute Linear Encoder192
Setting the Regenerative Resistor Capacity195
- Application Functions196
I/O Signal Allocations199
- Input Signal Allocations199
- Output Signal Allocations202
- ALM (Servo Alarm) Signal204
- ALO1 to ALO3 (Alarm Code) Signals204
- WARN (Warning) Signal205
- TGON (Rotation Detection) Signal205
- S-RDY (Servo Ready) Signal206
Operation for Momentary Power Interruptions207
SEMI F47 Function208
Setting the Motor Maximum Speed210
Speed Control211
- Basic Settings for Speed Control211
- Soft Start Settings218
- Speed Reference Filter218
- Zero Clamping219
- V-CMP (Speed Coincidence Detection) Signal221
- Operation Examples for Changing the Motor Direction222
Position Control224
- Basic Settings for Position Control225
- CLR (Position Deviation Clear) Signal Function and Settings227
- Reference Pulse Input Multiplication Switching228
- Smoothing Settings230
- COIN (Positioning Completion) Signal231
- NEAR (Near) Signal232
- Reference Pulse Inhibition Function233
Torque Control234
- Basic Settings for Torque Control234
- Adjusting the Torque Reference Offset235
- Torque Reference Filter Settings239
- Speed Limit During Torque Control239
Encoder Divided Pulse Output241
- Encoder Divided Pulse Output Signals241
- Setting for the Encoder Divided Pulse Output246
Internal Set Speed Control248
- Input Signals for Internal Set Speed Control248
- Setting the Control Method to Internal Set Speed Control249
- Settings for Internal Set Speed Control249
- Changing Internal Set Speeds with Input Signals250
Selecting Combined Control Methods252
- Setting Pn000 = N.X252
Selecting Torque Limits257
- Internal Torque Limits257
- External Torque Limits258
- Limiting Torque with an Analog Reference261
Absolute Encoders267
- Connecting an Absolute Encoder268
- Structure of the Position Data of the Absolute Encoder268
- Encoder268
- Output Ports for the Position Data from the Absolute Encoder269
- Reading the Position Data from the Absolute Encoder270
- Encoder270
- Transmission Specifications274
- Calculating the Current Position in Machine Coordinates275
Absolute Linear Encoders281
- Connecting an Absolute Linear Encoder281
- Structure of the Position Data of the Absolute Linear Encoder281
- Output Ports for the Position Data from the Absolute Linear Encoder282
- Reading the Position Data from the Absolute Linear Encoder283
- Transmission Specifications287
- Calculating the Current Position in Machine Coordinates288
- Alarm Output from the Output Ports for the Position Data from the Absolute Linear Encoder289
Software Reset290
- Preparations290
- Applicable Tools290
- Operating Procedure290
Initializing the Vibration Detection Level292
- Preparations292
- Applicable Tools293
- Operating Procedure293
- Related Parameters295
Adjusting the Motor Current Detection Signal Offset296
- Automatic Adjustment296
- Manual Adjustment298
Forcing the Motor to Stop300
- FSTP (Forced Stop Input) Signal300
- Stopping Method Selection for Forced Stops300
- Stops300
- Resetting Method for Forced Stops302
- Trial Operation and Actual Operation303
Flow of Trial Operation304
- Flow of Trial Operation for Rotary Servomotors304
- Flow of Trial Operation for Linear Servomotors306
Inspections and Confirmations before Trial Operation308
Trial Operation for the Servomotor Without a Load309
- Preparations309
- Applicable Tools310
- Operating Procedure310
Trial Operation from the Host Controller for the Servomotor Without a Load313
- Preparing the Servomotor for Trial Operation313
- Trial Operation for Speed Control315
- Trial Operation for Position Control from the Host Controller with the SERVOPACK Used for Speed Control316
- Trial Operation for Position Control317
Trial Operation with the Servomotor Connected to the Machine319
- Precautions319
- Preparations320
- Operating Procedure320
- Maintenance321
Convenient Function to Use During Trial Operation322
- Program Jogging322
- Origin Search327
- Test Without a Motor329
- Tuning334
Overview and Flow of Tuning337
- Tuning Functions338
- Diagnostic Tool339
Monitoring Methods340
Precautions to Ensure Safe Tuning341
- Overtravel Settings341
- Torque Limit Settings341
- Setting the Position Deviation Overflow Alarm Level341
- Vibration Detection Level Setting343
- Setting the Position Deviation Overflow Alarm Level at Servo on344
Tuning-Less Function345
- Application Restrictions345
- Operating Procedure346
- Troubleshooting Alarms347
- Parameters Disabled by Tuning-Less Function348
- Automatically Adjusted Function Setting348
- Related Parameters348
Estimating the Moment of Inertia349
- Outline349
- Restrictions350
- Applicable Tools350
- Operating Procedure351
Autotuning Without Host Reference357
- Outline357
- Restrictions358
- Applicable Tools359
- Operating Procedure359
- Troubleshooting Problems in Autotuning Without a Host Reference364
- Automatically Adjusted Function Settings365
- Related Parameters367
Autotuning with a Host Reference368
- Outline368
- Restrictions368
- Applicable Tools369
- Operating Procedure369
- Troubleshooting Problems in Autotuning with a Host Reference373
- Automatically Adjusted Function Settings374
- Related Parameters374
Custom Tuning375
- Outline375
- Preparations375
- Applicable Tools376
- Operating Procedure376
- Automatically Adjusted Function Settings382
- Tuning Example for Tuning Mode 2 or 3382
- Related Parameters383
Anti-Resonance Control Adjustment384
- Outline384
- Preparations384
- Applicable Tools385
- Operating Procedure385
- Related Parameters387
- Suppressing Different Vibration Frequencies with Anti-Resonance Control387
Vibration Suppression389
- Outline389
- Preparations390
- Applicable Tools390
- Operating Procedure390
- Setting Combined Functions392
- Related Parameters392
Speed Ripple Compensation393
- Outline393
- Setting up Speed Ripple Compensation393
- Setting Parameters397
Additional Adjustment Functions399
- Gain Switching399
- Gain Switching400
- Friction Compensation403
- Current Control Mode Selection405
- Current Gain Level Setting405
- Speed Detection Method Selection406
- Speed Feedback Filter406
- Proportional Control (P Control)406
Manual Tuning408
- Tuning the Servo Gains408
- Compatible Adjustment Functions418
Diagnostic Tools424
- Mechanical Analysis424
- Easy FFT426
- Monitoring430
Monitoring Product Information431
- Items that You Can Monitor431
- Operating Procedures432
Monitoring SERVOPACK Status433
- Servo Drive Status433
- Monitoring Status and Operations434
- I/O Signal Monitor436
Monitoring Machine Operation Status and Signal Waveforms437
- Items that You Can Monitor437
- Using the Sigmawin438
- Using a Measuring Instrument439
Monitoring Product Life444
- Items that You Can Monitor444
- Operating Procedure445
- Preventative Maintenance446
Alarm Tracing447
- Data for Which Alarm Tracing Is Performed447
- Applicable Tools447
Fully-Closed System449
SERVOPACK Commissioning Procedure450
Parameter Settings for Fully-Closed Loop Control452
- Control Block Diagram for Fully-Closed Loop Control452
- Setting the Motor Direction and the Machine Movement Direction453
- Loop Control453
- Setting the Number of External Encoder Scale Pitches454
- Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output) Signals454
- Setting the Number of External Encoder Scale454
- External Absolute Encoder Data Reception Sequence455
- Electronic Gear Setting455
- Alarm Detection Settings455
- External Absolute Encoder Data Reception455
- Analog Monitor Signal Settings457
- Setting to Use an External Encoder for Speed Feedback457
Introduction to the Safety Functions459
- Safety Functions459
- Precautions for Safety Functions459
Hard Wire Base Block (HWBB)460
- Risk Assessment460
- Hard Wire Base Block (HWBB) State461
- Resetting the HWBB State461
- Detecting Errors in HWBB Signal462
- HWBB Input Signal Specifications462
- Operation Without a Host Controller462
- S-RDY (Servo Ready Output) Signal463
- BK (Brake Output) Signal463
- Stopping Methods463
- Settings to Clear the Position Deviation464
- ALM (Servo Alarm) Signal and ALO1, ALO2, and ALO3464
  - (Alarm Code Output) Signals464
EDM1 (External Device Monitor)465
- EDM1 Output Signal Specifications465
Applications Examples for Safety Functions466
- Connection Example466
- Failure Detection Method466
- Procedure467
Validating Safety Functions468
Connecting a Safety Function Device469
Inspections and Part Replacement471
- Inspections471
- Guidelines for Part Replacement471
- Replacing the Battery472
Alarm Displays474
- List of Alarms474
- Troubleshooting Alarms481
- Resetting Alarms509
- Displaying the Alarm History510
- Clearing the Alarm History511
- Resetting Alarms Detected in Option Modules512
- Resetting Motor Type Alarms514
Warning Displays515
- List of Warnings515
- Troubleshooting Warnings516
Troubleshooting Based on the Operation and Conditions of the Servomotor521
Panel Operator534
- Panel Operator Key Names and Functions534
- Changing Modes534
- Status Displays535
Parameter (Pn) Operations on the Panel Operator537
- Setting Parameters that Require Numeric Settings537
- Setting Parameters that Require Selection of Functions538
Monitor Display (Un) Operations on the Panel Operator539
- Basic Monitor Display Operations539
- Input Signal Monitor (Un005)539
- Output Signal Monitor (Un006)540
- Safety Input Signal Monitor (Un015)541
- Upper Limit Setting Monitor for Maximum Motor Speed/Upper Limit Setting for Encoder Output Resolution (Un010)542
- Polarity Sensor Signal Monitor (Un011)542
Utility Function (Fn) Operations on the Panel Operator543
- Display Alarm History (Fn000)543
- Jog (Fn002)544
- Origin Search (Fn003)545
- Jog Program (Fn004)546
- Initialize Parameters (Fn005)547
- Clear Alarm History (Fn006)547
- Reset Absolute Encoder (Fn008)548
- Autotune Analog (Speed/Torque) Reference Offset (Fn009)549
- Manually Adjust Speed Reference Offset (Fn00A)549
- Manually Adjust Speed Reference Offset549
- Manually Adjust Torque Reference Offset (Fn00B)550
- Manually Adjust Torque Reference Offset550
- Adjust Analog Monitor Output Offset (Fn00C)551
- Adjust Analog Monitor Output Gain (Fn00D)551
- Adjust Analog Monitor Output Offset551
- Autotune Motor Current Detection Signal Offset (Fn00E)552
- Autotune Motor Current Detection Signal Offset552
- Manually Adjust Motor Current Detection Signal Offset (Fn00F)553
- Write Prohibition Setting (Fn010)554
- Display Servomotor Model (Fn011)555
- Display Software Version (Fn012)556
- Multiturn Limit Setting after Multiturn Limit Disagreement Alarm (Fn013)557
- Reset Option Module Configuration Error (Fn014)558
- Initialize Vibration Detection Level (Fn01B)558
- Reset Option Module Configuration Error558
- Display SERVOPACK and Servomotor Ids (Fn01E)559
- Display Servomotor ID from Feedback Option Module (Fn01F)559
- Set Absolute Linear Encoder Origin (Fn020)559
- Display SERVOPACK and Servomotor Ids559
- Resetting Motor Type Alarms (Fn021)560
- Software Reset (Fn030)560
- Polarity Detection (Fn080)560
- Tuning-Less Level Setting (Fn200)561
- Advanced Autotuning Without Reference (Fn201)562
- Advanced Autotuning with Reference (Fn202)562
- One-Parameter Tuning (Fn203)562
- Advanced Autotuning Without Reference562
- Advanced Autotuning with Reference562
- Adjust Anti-Resonance Control (Fn204)563
- Vibration Suppression (Fn205)563
- Easy FFT (Fn206)563
- Parameter Lists565
List of Parameters566
- Interpreting the Parameter Lists566
- List of Parameters567
Parameter Recording Table598
Appendices605
Examples of Connections to Host Controllers606
- Example of Connections to Yokogawa Electric's F3YP2-0P Positioning Module for Position Control607
- Example of Connections to Yokogawa Electric's F3NC3-0N Positioning Module for Position Control608
- Example of Connections to an OMRON Position Control Unit609
- Example of Connection to Mitsubishi's QD75D Positioning Module for Position Control610
Corresponding SERVOPACK and Sigmawin+ Function Names611
- Corresponding SERVOPACK Utility Function Names611
- Corresponding SERVOPACK Monitor Display Function Names612

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