Applicable Tools; Operating Procedure - YASKAWA SGD7S Product Manual

• When proportional control is used
Note:If you specify calculating the moment of inertia, an error will occur if V_PPI in the servo command output
signals (SVCMD_IO) changes to specify the proportional action during moment of inertia estimation.
• 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 esti-
mation has been completed.
• When speed feedforward or torque feedforward is input
Preparations
Always check the following before you execute moment of inertia estimation.
• The main circuit power supply must be ON.
• There must be no overtravel.
• The servo must be OFF.
• The control method must not be set to torque control.
• The gain selection switch must be set to manual gain selection (Pn139 = n.0).
• The first gains must be selected.
• The test without a motor function must be disabled (Pn00C = n.0).
• There must be no alarms or warnings.
• There must be no hard wire base block (HWBB).
• The parameters must not be write prohibited.
• The tuning-less function must be disabled (Pn170 = n.0).
8.5.3

Applicable Tools

The following table lists the tools that you can use to estimate the moment of inertia and the
applicable tool functions.
Tool
SigmaWin+
8.5.4

Operating Procedure

Use the following procedure to estimate the moment of inertia ratio.
 Estimating the moment of inertia requires operating the motor and therefore presents haz-
ards. 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.
 Be aware of the following points if you cancel the moment of inertia estimation while the
motor is operating.
• If you cancel operation with the Servo OFF Button, the motor will stop according to setting of the
Servo OFF stopping method (Pn001 = n.X).
• If you cancel operation with the Cancel Button, the motor will decelerate to a stop and then enter
a zero-clamped state.
Function
Tuning - Tuning
WARNING
CAUTION
8.5 Estimating the Moment of Inertia

8.5.3 Applicable Tools

Operating Procedure Reference
8.5.4 Operating Procedure on page 8-17
8
8-17