Automatically Adjusted Function Setting - YASKAWA SGD7C-***AMAA*** Product Manual

8.6 Autotuning without Host Reference

8.6.5 Automatically Adjusted Function Setting

Error Description
Positioning was not com-
pleted within approximately
10 seconds after position
adjustment was completed.
 When an Error Occurs during Calculation of Moment of Inertia
The SERVOPACK started calculating the
moment of inertia but the calculation was
not completed.
The moment of inertia fluctuated greatly
and did not converge within 10 tries.
Low-frequency vibration was detected.
The torque limit was reached.
The speed control section was changed
to proportional control during calculation
of the moment of inertia, e.g., the Speed
Loop P/PI Switch Bit (OW
was set to 1.
 Adjustment Results Are Not Satisfactory for Position Control
You may be able to improve the adjustment results by changing the settings of the positioning
completion width (Pn522) and the electronic gear ratio (Pn20E/Pn210).
If satisfactory results are still not possible, adjust the overshoot detection level (Pn561). That
may improve the adjustment results.
• Pn561 = 100% (default setting)
This will allow tuning with overshooting that is equivalent to the positioning completion width.
• Pn561 = 0%
This will allow tuning to be performed without overshooting within the positioning completion
width, but the positioning completed width may be extended.
Pn561
8.6.5

Automatically Adjusted Function Setting

You can specify whether to automatically adjust the following functions during autotuning.
 Automatic Notch Filters
Normally, set Pn460 to n.
Vibration will be detected during autotuning without a host reference and a notch filter will be
adjusted.
Set Pn460 to n.
notch filter before you execute this function.
8-30
The positioning com-
pletion width is too nar-
row or proportional
control (P control) is
being used.
Cause

01 Bit 3)
Overshoot Detection Level
Setting Range Setting Unit
0 to 100
 
1
 
0 (Do not adjust automatically) only if you do not change the setting of the
Cause
• Increase the setting of the positioning completion
width (Pn522).
• Set the Speed Loop P/PI Switch Bit (OW01 Bit
3) to 0.
• Increase the setting of the speed loop gain (Pn100).
• Increase the stroke (travel distance).
Set Pn103 (Moment of Inertia Ratio) from the machine specifica-
tions and specify not estimating the moment of inertia.
Double the setting of moment of inertia calculation starting level
(Pn324).
• If you are using the torque limit, increase the torque limit.
• Double the setting of moment of inertia calculation starting
level (Pn324).
Use PI control when calculating the moment of inertia.
Default Setting
1% 100
(Adjust automatically) (default setting).
Continued from previous page.
Corrective Action
Corrective Action
peed Po ition
When Enabled
Immediately
Torque
Classification
Setup