YASKAWA Sigma-7 SGD7S Series

Tuning-less Load Level
Parameter Meaning When Enabled Classification
Pn170
n.0
Tuning-less load level 0
Immediately Setup
n.1
(default
setting)
Tuning-less load level 1
n.2
Tuning-less load level 2
9.5.4 Troubleshooting Alarms
An A.521 alarm (Autotuning Alarm) will occur if a resonant sound occurs or if excessive
vibration occurs during position control. If an alarm occurs, implement the following meas-
ures.
n Resonant Sound
Decrease the setting of Pn170 = n.X or the setting of Pn170 = n.X.
n Excessive Vibration during Position Control
Increase the setting of Pn170 = n.X or decrease the setting of Pn170 =
n.X.
9.5.5 Parameters Disabled by Tuning-less Function
When the tuning-less function is enabled (Pn170 = n.1) (default setting), the param-
eters in the following table are disabled.
Item Parameter Name Parameter Number
Gain-Related Parameters Speed Loop Gain Pn100
Second Speed Loop Gain Pn104
Speed Loop Integral Time
Constant
Pn101
Second Speed Loop Inte-
gral Time Constant
Pn105
Position Loop Gain Pn102
Second Position Loop Gain Pn106
Moment of Inertia Ratio Pn103
Advanced Control-Related
Parameters
Friction Compensation
Function Selection
Pn408 = n.X
Anti-Resonance Control
Selection
Pn160 = n.X
Gain Selection-Related
Parameters
Gain Switching Selection
Pn139 = n.X
The tuning-less function is disabled during torque control, Easy FFT, and mechanical
analysis for a vertical axis. The gain-related parameters in the above table are enabled
for torque control, Easy FFT, and mechanical analysis. Of these, Pn100, Pn103, and
Pn104 are enabled for torque control.
Sigma-7 Series SERVOPACKs
Tuning
Tuning-less Function > Parameters Disabled by Tuning-less Function
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