Applicable Tools; Operating Procedure - YASKAWA SGD7S Product Manual

8.6 Autotuning without Host Reference

8.6.3 Applicable Tools

Preparations
Always check the following before you execute autotuning without a host reference.
• 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), or the tuning-less function
must be enabled (Pn170 = n.1) and moment of inertia estimation must be specified.
• If you execute autotuning without a host reference during speed control, set the mode to 1.
Information
8.6.3

Applicable Tools

The following table lists the tools that you can use to perform autotuning without a host refer-
ence and the applicable tool functions.
Digital Operator
SigmaWin+
8.6.4

Operating Procedure

Use the following procedure to perform autotuning without a host reference.
8-26
• 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 completed.
Tool
Fn201
Tuning - Tuning
 If you specify not estimating the moment of inertia, set the moment of inertia ratio (Pn103)
correctly. If the setting greatly differs from the actual moment of inertia ratio, normal control
of the machine may not be possible, and vibration may result.
 If you are using an MP3000-series Controller for phase control, set the mode selection to 1.
If 2 or 3 is selected for the mode, correct phase control may not be possible.
Function
CAUTION
Operating Procedure Reference
Σ-7-Series Digital Operator Operating
Manual (Manual No.: SIEP S800001 33)
8.6.4 Operating Procedure on page 8-26