YASKAWA SGD7S Product Manual page 294

8.6 Autotuning without Host Reference
8.6.4 Operating Procedure
6.
Set the conditions in the Switching the load moment of inertia (load mass) identifica-
tion Box, the Mode selection Box, the Mechanism selection Box, and the Distance
Box, and then click the Next Button.
• Distance Box
Set the travel distance.
Movement range: -99,990,000 to
+99,990,000 [reference units]
Minimum setting increment for travel dis-
tance: 1,000 [reference units]
Negative values are for reverse operation
and positive values are for forward opera-
tion from the current position.
Default settings:
Rotary Servomotors: Approx. 3 rotations
Direct Drive Servomotors: Approx. 0.3
rotations
Linear Servomotors: Approx 90 mm
Set the distance to the following values or
higher. To ensure tuning precision, we rec-
ommend that you use approximately the
default distance setting.
Rotary Servomotors: 0.5 rotations
Direct Drive Servomotors: 0.05 rotations
Linear Servomotors: 5 mm
8-28
• Switching the load moment of inertia (load mass)
identification Box
Specify whether to estimate the moment of inertia.
0: A moment of inertia is presumed. (default setting)
1: A moment of inertia is not presumed.
• Mode selection Box
Set the mode.
Mode Selection
Standard gain adjustment is per-
formed. In addition to gain adjust-
1: Standard
ment, notch filters and anti-resonance
control are automatically adjusted.
Tuning is performed for positioning
applications. In addition to gain
adjustment, model following control,
2: For positioning
notch filters, anti-resonance control,
and vibration suppression are auto-
matically adjusted.
Tuning is performed for positioning
applications with emphasis on elimi-
3: For positioning
nating overshooting. In addition to
especially to pre-
gain adjustment, notch filters, anti-
vent overshooting
resonance control, and vibration sup-
pression are automatically adjusted.
• Mechanism selection Box
Select the type according to the machine element to
drive.
If there is noise or if the gain does not increase, better
results may be obtained by changing the rigidity type.
Select the type according to the following guidelines.
Mechanism
Selection
Tuning is performed for a mecha-
1: Belt mechanism nism with relatively low rigidity, e.g.,
a belt.
Tuning is performed for a mecha-
2: Ball screw mech- nism with relatively high rigidity, e.g.,
anism or linear a ball screw or Linear Servomotor.
motor Use this setting if there is no other
appropriate setting.
Tuning is performed for a mecha-
3: Rigid model nism with high rigidity, e.g., a rigid
body system.
• Tuning parameters Box
Specify the parameters to use for tuning.
If you select the Start tuning using the default set-
tings Check Box, the tuning parameters will be returned
to the default settings before tuning is started.
Description
Description