Restrictions; Applicable Tools; Operating Procedure - YASKAWA SGD7S Product Manual

8.7 Autotuning with a Host Reference

8.7.2 Restrictions

8.7.2

Restrictions

Systems for Which Adjustments Cannot Be Made
Accurately
Adjustments will not be made correctly for autotuning with a host reference in the following
cases. Use custom tuning.
• 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)
• Rotary Servomotors: When the movement speed for the reference from the host controller is
equal to or lower than the setting of the rotation detection level (Pn502)
• Linear Servomotors: When the movement speed for the reference from the host controller is
equal to or lower than the setting of the zero speed level (Pn581)
• When the time required to stop is 10 ms or less
• When the rigidity of the machine is low and vibration occurs when positioning is performed
• When the position integration function is used
• When proportional control is used
• When mode switching is used
• When the positioning completed width (Pn522) is too narrow
Refer to the following sections for details on custom tuning.
8.8 Custom Tuning on page 8-42
Preparations
Always check the following before you execute autotuning with a host reference.
• The servo must be in ready status.
• There must be no overtravel.
• The servo must be OFF.
• Position control must be selected if power is supplied to the motor (i.e., when the servo is ON).
• 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 warnings.
• The tuning-less function must be disabled (Pn170 = n.0).
• The parameters must not be write prohibited.
8.7.3

Applicable Tools

The following table lists the tools that you can use to perform autotuning with a host reference
and the applicable tool functions.
Digital Operator
SigmaWin+
8.7.4

Operating Procedure

Use the following procedure to perform autotuning with a host reference.
8-36
Tool
Fn202
Tuning - Tuning
 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 Man-
ual (Manual No.: SIEP S800001 33)
8.7.4 Operating Procedure on page 8-36