YASKAWA Sigma-7 SGD7S Series - 9.5 Tuning-less Function; 9.5.1 Overview

Speed Limit Level at Servo ON
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn584 0 to 10,000 1 mm/s 10,000 Immediately Setup
(applies to Position Control)
Alarm Number Alarm Name Alarm Meaning
A.d01 Position Devia-
tion Overflow
Alarm at Servo
ON
This alarm occurs if Servo ON command (Enable
Operation command) is executed after the position
deviation exceeded the setting of Pn526 (Position
Deviation Overflow Alarm Level at Servo ON) while
the servo was OFF.
A.d02 Position Devia-
tion Overflow
Alarm for
Speed Limit at
Servo ON
If position deviation remains in the deviation
counter, the setting of Pn529 or Pn584 (Speed Limit
Level at Servo ON) will limit the speed when the
servo is turned ON. This alarm occurs if a position
reference is input and the setting of Pn520 (Position
Deviation Overflow Alarm Level) is exceeded.
Refer to the following section for information on troubleshooting alarms.
Ä Chap. 16.4.4 ‘Resetting Alarms’ page 630
Warning
Number
Warning Name Warning Meaning
A.901 Position Devia-
tion Overflow
Warning at
Servo ON
This warning occurs if the servo is turned ON while
the position deviation exceeds the specified per-
centage (Pn526 × Pn528/100).
9.5 Tuning-less Function
9.5.1 Overview
The tuning-less function performs autotuning to obtain a stable response regardless of
the type of machine or changes in the load. Autotuning is started when the servo is
turned ON.
CAUTION!
– The tuning-less function is disabled during torque control.
– The Servomotor may momentarily emit a sound the first time the
servo is turned ON after the Servomotor is connected to the machine.
This sound is caused by setting the automatic notch filter. It does not
indicate a problem. The sound will not be emitted from the next time
the servo is turned ON.
– The Servomotor may vibrate if it exceeds the allowable load moment
of inertia. If that occurs, set the tuning-less load level to 2 (Pn170 =
n.2) or reduce the Tuningless Rigidity Level (Pn170 =
n.X).
– To ensure safety, make sure that you can perform an emergency stop
at any time when you execute the tuning-less function.
Linear Servomotors
Related Alarms
Related Warnings
Sigma-7 Series SERVOPACKs
Tuning
Tuning-less Function > Overview
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