YASKAWA Sigma-7 SGD7S Series - 9.7.4 Applicable Tools; 9.7.5 Operating Procedure

n When proportional control is used
n When mode switching is used
Note: If you specify moment of inertia estimation, mode switching will be disabled and
PI control will be used while the moment of inertia is being calculated. Mode switching
will be enabled after moment of inertia estimation has been completed.
n When speed feedforward or torque feedforward is input
n When the positioning completed width (Pn522) is too narrow
Check the following settings before you execute autotuning without a host reference.
n The main circuit power supply must be ON.
n There must be no overtravel.
n The servo must be OFF.
n The control method must not be set to torque control.
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), or the tuning-less
function must be enabled (Pn170 = n.1) (default setting) and moment of inertia
estimation must be specified.
n If you execute autotuning without a host reference during speed control, set the mode
to 1.
If you start autotuning without a host reference while the SERVOPACK is
in speed control for mode 2 or 3, the SERVOPACK will change to position
control automatically to perform autotuning without a host reference. The
SERVOPACK will return to speed control after autotuning has been com-
pleted.
9.7.4 Applicable Tools
The following table lists the tools that you can use to perform autotuning without a host
reference and the applicable tool functions.
Tool Function Operating Procedure Reference
Digital Operator Fn201 Σ-7-Series Digital Operator Operating
Manual (Manual No.: SIEP S800001 33)
SigmaWin+ Tuning - Tuning
Ä Chap. 9.7.5 ‘Operating Procedure’
page 324
9.7.5 Operating Procedure
Use the following procedure to perform autotuning without a host reference.
Preparations
Sigma-7 Series SERVOPACKs
Tuning
Autotuning without Host Reference > Operating Procedure
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