YASKAWA SGMJV User Manual page 215

Step Display after Operation
Type Selection
Select the type according to the machine element to be driven. If there is noise or the gain does not increase,
better results may be obtained by changing the rigid type.
3-3
Type = 1: For belt drive mechanisms.
Type = 2: For ball screw drive mechanisms [Factory setting].
Type = 3: For rigid systems, such as a gear.
STROKE (Travel Distance) Setting
Travel distance setting range:
The travel distance setting range is from -99990000 to +99990000. Specify the STROKE (travel distance)
in increments of 1000 reference units. The negative (-) direction is for reverse rotation, and the positive
(+) direction is for forward rotation.
Initial value:
About 3 rotations
∗ If the servomotor's encoder resolution is 1048576 (20-bit), the STROKE (travel distance) will be set to
+800000. If the electric gear ratio is set to the factory setting (Pn20E=4, Pn210=1), the initial value is calculated
as shown with the following equation.
3-4
800000 4
×
1048576 1
Notes:
• Set the number of motor rotations to at least 0.5; otherwise, "Error" will be displayed and the travel distance
cannot be set.
• To calculate the moment of inertia and ensure precise tuning, it is recommended to set the number of motor
rotations to around 3.
• For an SGMCS direct-drive servomotor, the factory setting for the number of motor rotations is 0.3 or equiva-
lent.
4
R U N
5
R U N
6
Display example:
After the moment of inertia is
calculated.
7
Keys
3 rotations
6.3 Advanced Autotuning (Fn201)
Operation
Press the Key. The advanced autotuning execu-
tion screen will be displayed.
Press the Key. The servo will be ON and the dis-
play will change from "BB" to "RUN."
Note: If the mode is set to 2 or 3, the "Pn102" display
will change to the "Pn141.
Calculates the moment of inertia.
Press the Key if a positive (+) value is set in
STROKE (travel distance), or press the
negative (-) value is set. Calculation of the moment of
inertia ratio will start. While the moment of inertia is
being calculated, the set value for Pn103 will blink.
When the calculation has been completed, the set
value will stop blinking and the calculated moment of
inertia ratio will be displayed. The servo will remain
ON, but the auto run operation will enter HOLD sta-
tus.
Notes:
• The wrong key for the set travel direction is
pressed, the calculation will not start.
• If the moment of inertia is not calculated, the set
value for Pn103 will be displayed but not blink.
• If "NO-OP" or "Error" are displayed, press the
Key to cancel the function. Refer to (2) Fail-
ure in Operation and take a corrective action to
enable operation.
After the motor is temporarily stopped, press the
Key to save the estimated and the moment of inertia
in the SERVOPACK.
In the case of calculating the moment of inertia only,
press the Key after pressing the
ish Fn201.
Key if a
6
Key to fin-
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