YASKAWA UAK series User Manual page 212

(4) Advanced Autotuning Procedure
The following procedure is used for advanced autotuning.
Advanced autotuning is performed from the SigmaWin for Σ-V-SD (MT).
Autotuning without reference input involves motor operation, and it is therefore hazardous.
Refer to the SigmaWin for Σ-V-SD (MT) Operation Manual before performing autotuning without reference input.
Be particularly careful of the following point.
• Ensure safety near all moving parts.
Vibration may occur during autotuning without a host frequency. Provide an emergency stop means to shut OFF
the power supply during implementation. The motor will move in both directions within the movement range.
Check the movement range and direction, and provide overtravel prevention means and other safety measures as
required.
Two methods are available to stop autotuning without reference input while the motor is running, and the motor will
stop according to the method selected. Make sure to select the best method for the situation.
• If the SERVO OFF button is used, the motor will stop according to the stopping method after servo off specified
by the parameters.
• If the CANCEL button is used, the motor will decelerate to a stop and then enter a zero clamp state.
Note: The CANCEL button may be invalid in some SERVOPACKs.
The operating procedure from the SigmaWin for Σ-V-SD (MT) is described here.
• When using the SERVOPACK with Jcalc = OFF (load moment of inertia is not calculated), be sure to set a
suitable value for the moment of inertia ratio (Pn103). If the setting greatly differs from the actual moment
of inertia ratio, normal control of the SERVOPACK may not be possible, and vibration may result.
1.
In the SigmaWin Σ-V-SD (MT) component main window, click Tuning and then click Tuning.
Click Cancel to return to the SigmaWin Σ-V-SD (MT) component main window without executing tun-
ing.
WARNING
CAUTION
CAUTION
9.2 Advanced Autotuning
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