YASKAWA SGDV-OCA05A

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8.7 Autotuning with a Host Reference

8.7.4 Operating Procedure

Tuning

8-39

11.

When tuning has been completed, click the Finish Button.

The results of tuning will be set in the parameters and you will return to the Tuning Dialog Box.

This concludes the procedure to perform autotuning with a host reference.

Main Page

About this Manual3
Outline of Manual3
Related Documents4
Using this Manual11
Safety Precautions14
Warranty24
Compliance with UL Standards, EU Directives, and Other Safety Standards26
- Table of Contents29
- Actual Operation34
Basic Information40
The Σ-7 Series42
Introduction to the Devicenet Module43
- Devicenet Terminology43
- Data Types43
Interpreting the Nameplate44
- SERVOPACK Nameplate44
- Devicenet Module Nameplate44
Part Names45
Interpreting Panel Displays47
- Panel Displays47
- LED Indicators48
Model Designations49
- Interpreting SERVOPACK Model Numbers49
- Interpreting Devicenet Module Model Numbers50
- Interpreting Servomotor Model Numbers51
Combinations of Servopacks and Servomotors52
- Combinations of Rotary Servomotors and Servopacks52
- Combinations of Direct Drive Servomotors and Servopacks53
Combinations of Direct Drive Servomotors and Servopacks54
Combinations of Linear Servomotors and Servopacks56
Functions57
- Selecting a SERVOPACK59
Block Diagrams69
- SGD7S-R70A, -R90A, and -1R6A69
- Sgd7S-2R8A69
- SGD7S-3R8A, -5R5A, and -7R6A70
- Sgd7S-120A71
- SGD7S-180A and -200A73
- Sgd7S-330A74
- SGD7S-470A and -550A75
- SGD7S-590A and -780A76
- SGD7S-R70F, -R90F, and -2R1F77
- Sgd7S-2R8F77
External Dimensions78
- Front Cover Dimensions and Connector Specifications78
- SERVOPACK External Dimensions78
- Connector Specifications78
Examples of Standard Connections between Servopacks and Peripheral Devices85
- Installation87
Installation Precautions88
Mounting the Devicenet Module to the SERVOPACK89
Mounting Types and Orientation90
Mounting Hole Dimensions91
Mounting Interval92
- Installing One SERVOPACK in a Control Panel92
- Installing more than One SERVOPACK in a Control Panel92
Monitoring the Installation Environment93
EMC Installation Conditions94
Wiring and Connections97
Wiring and Connecting Servopacks99
- General Precautions99
- Countermeasures against Noise102
- Grounding105
Wiring the Power Supply to the SERVOPACK107
- Terminal Symbols and Terminal Names107
- Wiring Procedure for Main Circuit Connector110
- Power on Sequence111
- Power Supply Wiring Diagrams112
- Wiring Regenerative Resistors118
- Wiring Reactors for Harmonic Suppression120
Wiring Servomotors121
- Terminal Symbols and Terminal Names121
- Pin Arrangement of Encoder Connector (CN2)121
- Wiring the SERVOPACK to the Encoder122
- Wiring the SERVOPACK to the Holding Brake128
- I/O Signal Connector (CN1) Pin Arrangement130
- I/O Signal Wiring Examples130
- I/O Signal Connections130
- I/O Circuits132
Connecting Safety Function Signals134
- Pin Arrangement of Safety Function Signals (CN8)134
- I/O Circuits134
- Pin Arrangement of Safety Function Signals134
- Cn8134
Devicenet System Configuration136
- System Configuration Example for Devicenet Communications136
- Connection Examples for Devicenet Communications Cable137
- Precautions for Connecting Devicenet Communications Cables138
- Signal Names and Functions of the Devicenet Communications Connector (CN6)141
- Network Connection Methods142
Connecting the Other Connectors143
- Serial Communications Connector (CN3)143
- Computer Connector (CN7)143
- Analog Monitor Connector (CN5)143
- Basic Functions that Require Setting before Operation144
Manipulating Parameters (Pn)146
- Parameter Classification146
- Notation for Parameters147
- Parameter Setting Methods148
- Write Prohibition Setting for Parameters151
- Initializing Parameter Settings153
- Managing Parameters (Pn)155
Power Supply Type Settings for the Main Circuit and Control Circuit156
- AC Power Supply Input/DC Power Supply Input Setting156
- Single-Phase AC Power Supply Input/Three-Phase AC Power Supply Input Setting157
Automatic Detection of Connected Motor158
Motor Direction Setting159
Setting the Linear Encoder Pitch160
Writing Linear Servomotor Parameters161
Selecting the Phase Sequence for a Linear Servomotor165
Polarity Sensor Setting167
Polarity Detection168
- Restrictions168
- Using the Servo on Command to Perform Polarity Detection169
- Using a Tool Function to Perform Polarity Detection170
Overtravel and Related Settings171
- Overtravel Signals171
- Setting to Enable/Disable Overtravel172
- Setting Overtravel Signal Polarity172
- Motor Stopping Method for Overtravel172
Holding Brake173
- Brake Operating Sequence173
- BK (Brake) Signal174
- Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped175
- Output Timing of /BK (Brake) Signal When the Servomotor Is Operating175
Motor Stopping Method for Servo off and Alarms177
- Stopping Method for Servo off178
- Servomotor Stopping Method for Alarms178
Motor Overload Detection Level181
- Detection Timing for Overload Warnings (A.910)181
- Detection Timing for Overload Warnings181
- Detection Timing for Overload Alarms (A.720)182
Electronic Gear Settings183
Resetting the Absolute Encoder189
- Precautions on Resetting189
- Preparations189
- Applicable Tools190
- Operating Procedure190
Setting the Origin of the Absolute Encoder192
- Absolute Encoder Origin Offset192
- Setting the Origin of the Absolute Linear Encoder192
Setting the Regenerative Resistor Capacity195
- Application Functions196
- Input Signals198
- Output Signals198
SEMI F47 Function201
Setting the Motor Maximum Speed203
Encoder Divided Pulse Output203
- Encoder Divided Pulse Output204
  - Setting for the Encoder Divided Pulse Output209
  - Setting for the Encoder Divided Pulse Output210
Software Limits211
- Setting to Enable/Disable Software Limits211
- Setting the Software Limit Action211
- Setting the Software Limits211
Internal Torque Limits212
Absolute Encoders213
- Connecting an Absolute Encoder214
- Multiturn Limit Setting214
- Multiturn Limit Disagreement Alarm (A.CC0)215
Absolute Linear Encoders218
- Connecting an Absolute Linear Encoder218
Software Reset219
- Preparations219
- Applicable Tools219
- Operating Procedure219
Initializing the Vibration Detection Level221
- Preparations221
- Applicable Tools222
- Operating Procedure222
- Related Parameters224
Adjusting the Motor Current Detection Signal Offset225
- Automatic Adjustment225
- Manual Adjustment227
External Stop Function229
- EXSTOP (External Stop Input) Signal229
- Enabling/Disabling the External Stop Input Signal229
- Setting the Polarity of the External Stop Input Signal229
- Signal229
Overheat Protection230
- Connecting the Overheat Protection Input (TH) Signal230
- Overheat Protection Selection230
- Connecting the Overheat Protection Input230
- (TH) Signal230
- Trial Operation and232
Flow of Trial Operation233
- Flow of Trial Operation for Rotary Servomotors233
Inspections and Confirmations before Trial Operation237
Trial Operation for the Servomotor Without a Load238
- Preparations238
- Applicable Tools239
- Operating Procedure239
Trial Operation with Devicenet Communications241
Trial Operation with the Servomotor Connected to the Machine242
- Precautions242
- Preparations242
- Operating Procedure243
Convenient Function to Use During Trial Operation244
- Program Jogging244
- Origin Search250
- Test Without a Motor252
- Monitoring255
- Tuning256
Overview and Flow of Tuning259
- Tuning Functions260
- Diagnostic Tool260
Monitoring Methods261
Precautions to Ensure Safe Tuning262
- Overtravel Settings262
- Torque Limit Settings262
- Setting the Position Deviation Overflow Alarm Level262
- Vibration Detection Level Setting264
- Setting the Position Deviation Overflow Alarm Level at Servo on264
Tuning-Less Function266
- Application Restrictions266
- Operating Procedure267
- Parameters Disabled by Tuning-Less Function269
- Automatically Adjusted Function Setting269
- Related Parameters269
Estimating the Moment of Inertia270
- Outline270
- Restrictions271
- Applicable Tools271
- Operating Procedure272
Autotuning Without Host Reference278
- Outline278
- Restrictions279
- Applicable Tools280
- Operating Procedure280
- Troubleshooting Problems in Autotuning Without a Host Reference284
- Automatically Adjusted Function Settings286
- Related Parameters288
Autotuning with a Host Reference289
- Outline289
- Restrictions290
- Applicable Tools290
- Operating Procedure291
- Troubleshooting Problems in Autotuning with a Host Reference295
- Automatically Adjusted Function Settings295
- Related Parameters296
Custom Tuning297
- Outline297
- Preparations297
- Applicable Tools298
- Operating Procedure298
- Automatically Adjusted Function Settings304
- Tuning Example for Tuning Mode 2 or 3304
- Related Parameters305
Anti-Resonance Control Adjustment306
- Outline306
- Preparations306
- Applicable Tools307
- Operating Procedure307
- Related Parameters309
- Suppressing Different Vibration Frequencies with Anti-Resonance Control309
Vibration Suppression311
- Outline311
- Preparations312
- Applicable Tools312
- Operating Procedure312
- Related Parameters314
Speed Ripple Compensation315
- Outline315
- Setting up Speed Ripple Compensation315
- Setting Parameters319
Additional Adjustment Functions322
- Automatic Gain Switching322
- Automatic Gain Switching323
- Friction Compensation324
- Gravity Compensation326
- Current Control Mode Selection328
- Current Gain Level Setting328
- Speed Detection Method Selection329
- Speed Feedback Filter329
- Backlash Compensation329
- Fully-Closed Loop Control330
Manual Tuning334
- Tuning the Servo Gains334
- Compatible Adjustment Functions344
Diagnostic Tools348
- Mechanical Analysis348
- Easy FFT350
Monitoring Product Information355
- Items that You Can Monitor355
- Operating Procedures355
Monitoring SERVOPACK Status356
- System Monitor356
- Monitoring Status and Operations357
- I/O Signal Monitor359
Monitoring Machine Operation Status and Signal Waveforms360
- Items that You Can Monitor360
- Using the Sigmawin361
- Using the Analog Monitors363
Monitoring Product Life367
- Items that You Can Monitor367
- Operating Procedure368
- Preventative Maintenance368
Alarm Tracing369
- Data for Which Alarm Tracing Is Performed369
- Applicable Tools369
Fully-Closed System371
SERVOPACK Commissioning Procedure372
Parameter Settings for Fully-Closed Loop Control374
- Control Block Diagram for Fully-Closed Loop Control374
- Setting the Motor Direction and the Machine Movement Direction375
- Loop Control375
- Setting the Number of External Encoder Scale Pitches376
- Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output)376
- Signals376
- Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output) Signals376
- Electronic Gear Setting377
- Alarm Detection Settings377
- Analog Monitor Signal Settings378
- Setting to Use an External Encoder for Speed Feedback378
Introduction to the Safety Functions380
- Safety Functions380
- Precautions for Safety Functions380
Hard Wire Base Block (HWBB)381
- Risk Assessment381
- Hard Wire Base Block (HWBB) State382
- Resetting the HWBB State383
- Detecting Errors in HWBB Signal383
- HWBB Input Signal Specifications384
- Operation Without a Host Controller384
- Servo Ready385
- BK (Brake Output) Signal385
- Stopping Methods386
- ALM (Servo Alarm) Signal386
EDM1 (External Device Monitor)387
- EDM1 Output Signal Specifications387
Applications Examples for Safety Functions388
- Connection Example388
- Failure Detection Method388
- Procedure389
Validating Safety Functions390
Connecting a Safety Function Device391
Devicenet Functions392
Setting the Coordinate System393
- Coordinate System Selection393
- Setting the Reference Units Per Machine Revolution393
Origin Returns394
- Origin Return Type394
- Parameter Settings394
- Setting the Origin396
Positioning397
- Acceleration/Deceleration Patterns397
- Parameter Settings402
Positioning after Continuous Operation404
- Positioning Patterns after Continuous Operation404
- Parameter Settings405
Special Functions407
- Action Definition Settings407
- Initialization Functions408
- Devicenet Communications409
Devicenet Communications Settings411
- Setting the Node Address411
- Setting the Baud Rate412
Communications Methods413
- I/O Communications413
- Explicit Message Communications419
Controlling Operation from the Host Controller421
- Positioning421
- Continuous Operation422
- Origin Returns423
- Switching to Positioning426
- Hard Stop Operation428
- Smooth Stop Operation429
- External Stop Operation429
- Hardware Limit Operation430
- Software Limit Operation430
Programmed Operation431
- What Is Programmed Operation431
- Command Blocks431
- Block Command Details432
- Command Block Links436
- Creating and Changing Command Blocks436
- Starting Programmed Operation438
Reading and Changing Attributes439
- Devicenet Data Management439
- Executing a Module Reset441
- Maintenance442
Inspections and Part Replacement443
- Inspections443
- Guidelines for Part Replacement443
- Replacing the Battery444
Alarm Displays446
- List of Alarms447
- Troubleshooting Alarms452
- Resetting Alarms484
- Displaying the Alarm History485
- Clearing the Alarm History486
- Resetting Alarms Detected in Option Modules487
- Resetting Motor Type Alarms489
Warning Displays490
- List of Warnings490
- Troubleshooting Warnings491
Troubleshooting Based on the Operation and Conditions of the Servomotor497
- Parameter Lists507
List of Parameters508
- Interpreting the Parameter Lists508
- List of Parameters509
Parameter Recording Table532
- Appendices540
Corresponding SERVOPACK and Sigmawin+ Function Names541
- Corresponding SERVOPACK Utility Function Names541
- Corresponding SERVOPACK Monitor Display Function Names542
Devicenet Object Model544
Devicenet Attributes546
- Identity Object546
- Message Router Object546
- Devicenet Object547
- Assembly Objects548
- Connection Objects548
- Position Controller Supervisor Object550
- Position Controller Object551
- Block Sequencer Object553
- Command Block Objects554
- Control Parameter Object555
- SERVOPACK Parameter Object556
Relationship between Parameters and Attributes562
Relation between Alarm Codes and Alarm Numbers567

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