Operating Procedure - YASKAWA SGD7C-***AMAA*** Product Manual

• When proportional control is used
Note: If you specify calculating the moment of inertia, an error will occur if you use the Speed Loop P/PI Switch Bit

(OW 01 bit 3) to change between P and PI control during moment of inertia estimation.
• When mode switching is used
Note: If you specify moment of inertia estimation, mode switching will be disabled and PI control will be used while
the moment of inertia is being calculated. Mode switching will be enabled after moment of inertia estimation
has been completed.
• When speed feedforward or torque feedforward is input
Preparations
Always check the following before you execute moment of inertia estimation.
• 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.
• The first gains must be selected.
• The test without a motor function must be disabled (Pn00C = n.
• There must be no alarms or warnings.
• The parameters must not be write prohibited.
• The tuning-less function must be disabled (Pn170 = n.
8.5.3

Operating Procedure

Use the following procedure to estimate the moment of inertia ratio.
 Estimating the moment of inertia requires operating the Servomotor and therefore presents
hazards. Observe the following precaution.
• Confirm safety around moving parts.
This function involves automatic operation with vibration. Make sure that you can perform an
emergency stop (to turn OFF the power supply) at any time. There will be movement in both
directions within the set range of movement. Check the range of movement and the directions
and implement protective controls for safety, such as the overtravel functions.
 Be aware of the following points if you cancel the moment of inertia estimation while the
Servomotor is operating.
• If you cancel operation with the Servo OFF Button, the Servomotor will stop according to setting
of the Servo OFF stopping method (Pn001 = n.
• If you cancel operation with the Cancel Button, the Servomotor will decelerate to a stop and
then enter a zero-clamped state.
1.
Click the
maWin+.
2.
Select Tuning in the Menu Dialog Box.
The Tuning Dialog Box will be displayed.
Click the Cancel Button to cancel tuning.
WARNING
CAUTION
Servo Drive Button in the workspace of the Main Window of the Sig-
8.5 Estimating the Moment of Inertia

8.5.3 Operating Procedure

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