YASKAWA Sigma-7 SGD7S Series

n The gain selection switch must be set to manual gain selection (Pn139 = n.0).
n The first gains must be selected.
n The test without a motor function must be disabled (Pn00C = n.0).
n There must be no alarms or warnings.
n There must be no hard wire base block (HWBB).
n The parameters must not be write prohibited.
n The tuning-less function must be disabled (Pn170 = n.0).
9.6.4 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
Digital Operator You cannot estimate the moment of inertia from the Digital Oper-
ator.
SigmaWin+ Tuning - Tuning
Ä Chap. 9.6.5 ‘Operating Procedure’
page 310
9.6.5 Operating Procedure
Use the following procedure to set the moment of inertia ratio.
WARNING!
Estimating the moment of inertia requires operating the Servomotor
and therefore presents hazards. Observe the following precaution.
– Confirm safety around moving parts.
This function involves automatic operation with vibration. Make sure
that you can perform an emergency stop (to turn OFF the power
supply) at any time. There will be movement in both directions within
the set range of movement. Check the range of movement and the
directions and implement protective controls for safety, such as the
overtravel functions.
CAUTION!
Be aware of the following points if you cancel the moment of inertia
estimation while the Servomotor is operating.
– If you cancel operation with the Servo OFF Button, the Servomotor
will stop according to setting of the Servo OFF stopping method
(Pn001 = n.X).
– If you cancel operation with the Cancel Button, the Servomotor will
decelerate to a stop and then enter a zero-clamped state.
1.
Click the Servo Drive Button in the workspace of the Main Window of the Sig-
maWin+.
2. Select Tuning in the Menu Dialog Box.
ð
The Tuning Dialog Box will be displayed. Click the Cancel Button to cancel
tuning.
Sigma-7 Series SERVOPACKs
Tuning
Estimating the Moment of Inertia > Operating Procedure
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