YASKAWA Sigma-7 SGD7S Series

n When the travel distance for the reference from the host controller is equal to or lower
than the setting of the positioning completed width (Pn522)
n Rotary Servomotors: When the movement speed for the reference from the host con-
troller is equal to or lower than the setting of the rotation detection level (Pn502)
n Linear Servomotors: When the movement speed for the reference from the host con-
troller is equal to or lower than the setting of the zero speed level (Pn581)
n When the time required to stop is 10 ms or less
n When the rigidity of the machine is low and vibration occurs when positioning is per-
formed
n When the position integration function is used
n When proportional control is used
n When mode switching is used
n When the positioning completed width (Pn522) is too narrow
Refer to the following sections for details on custom tuning.
Ä Chap. 9.9 ‘Custom Tuning’ page 350
Check the following settings before you execute autotuning with a host reference.
n The servo must be in ready status.
n There must be no overtravel.
n The servo must be OFF.
n Position control must be selected if power is supplied to the motor (i.e., when the
servo is ON).
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 warnings.
n The tuning-less function must be disabled (Pn170 = n.0).
n The parameters must not be write prohibited.
9.8.4 Applicable Tools
The following table lists the tools that you can use to perform autotuning with a host refer-
ence and the applicable tool functions.
Tool Function Operating Procedure Reference
Digital Operator Fn202
& Σ-7-Series Digital Operator Operating
Manual (Manual No.: SIEP S800001 33)
SigmaWin+ Tuning - Tuning
Ä Chap. 9.8.5 ‘Operating Procedure’
page 340
9.8.5 Operating Procedure
Use the following procedure to perform autotuning with a host reference.
1. Confirm that the moment of inertia ratio (Pn103) is set correctly.
2.
Click the Servo Drive Button in the workspace of the Main Window of the Sig-
maWin+.
Preparations
Sigma-7 Series SERVOPACKs
Tuning
Autotuning with a Host Reference > Operating Procedure
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