YASKAWA SGMJV User Manual page 222

6 Adjustments
6.4.1 Advanced Autotuning by Reference
(1) Before Performing Advanced Autotuning by Reference
Check the following settings before performing advanced autotuning by reference.
a) A message (NO-OP) indicating that no operations are possible will be displayed, if all of the following
conditions are not met.
• The main circuit power supply must be ON.
• The servo ON (/S_ON) signal must be OFF.
• The forward run prohibited (P-OT) and the reverse run prohibited (N-OT) signal must not be in an over-
travel state.
• The position control must be selected when the servo ON (/S_ON) signal is ON.
• The control must not be set to torque control.
• The tuning-less function must be disabled.
• Automatic gain switching must be disabled.
• Gain setting 2 must not be selected.
• Test without motor function must not be enabled. (Pn00C.0 = 0)
• All alarms and warning must be cleared.
• The hardwire baseblock (HWBB) must be off.
b) Observe the following condition to ensure operation.
• The write prohibited setting (Fn010) must not be set.
(2) When Advanced Autotuning by reference Cannot be Adjusted
Advanced autotuning by reference may not be performed normally under the following conditions. If the
result of autotuning is not satisfactory, perform one-parameter tuning. Refer to 6.5 One-parameter Tuning
(Fn203) for details.
• The travel distance in response to references from the host controller must be the same as or larger than the
set positioning completed width (Pn522).
• The motor speed in response to references from the host controller must be the same as or larger than the set
rotation detection level (Pn502).
• The stopping time, i.e., the period while the positioning completed /COIN signal is OFF, is 10 ms or longer.
• The rigidity of the load is low and vibration occurs when positioning is performed.
• The position integration function is used.
• P control operation (proportional control) is performed.
• The mode switch is used.
• The positioning completed width is to small.
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• Advanced autotuning by reference starts adjustments based on the positioning com-
pleted width (Pn522). Set the electronic gear ratio (Pn20E/Pn210) and positioning
completed width (Pn522) to the actual value during operation.
• Unless the positioning completed signal (/COIN) is turned ON within approximately 3
seconds after positioning has been completed, "WAITING" will blink. Furthermore,
unless the positioning completed signal (/COIN) is turned ON within approximately 10
seconds, "Error" will blink for 2 seconds and tuning will be aborted.