YASKAWA E-V Series User Manual page 202

(1) Operating Procedure
Step Display after Operation
1
2
3
Calculating Mass
Select the mode to be used.
Normally, set Jcalc to ON.
3-1
Jcalc = ON: Mass calculated
Jcalc = OFF: Mass not calculated
<Note>
If the mass is already known from the machine specifications, set the value in Pn103 and set Jcalc to OFF.
Tuning Level
Select the tuning level.
Mode = 1: Makes adjustments for feedback control, not for model following control. [Standard]
3-2
Mode = 2: Makes adjustments for positioning.
Mode = 3: Makes adjustments for positioning, giving priority to overshooting suppression.
Set this level if position error overshoots at mode 2.
Filter Type Setting
Select the filter type to set a filter according to the machine element to be driven. Set the filter referring to the
following functional elements.
<Note>
3-3
If there is noise or the gain does not increase, good results may be obtained by changing the filter type.
Type = 1: Selects a filter suitable for belt drive mechanisms.
Type = 2: Selects a filter suitable for ball screw drive mechanisms or linear servomotor [Factory setting].
Type = 3: Selects a filter suitable for rigid systems, such as a gear.
STROKE (Travel Distance) Setting
Specify a travel distance in increments of 1000 references.
Travel distance setting range:
The travel distance setting range is from -99990000 to +99990000. The negative (-) direction is for
reverse movement, and the positive (+) direction is for forward movement.
Initial value:
3-4
90 mm
Note:
• Move the position using JOG operation to where a suitable movable range is ensured.
• Set the travel distance to at least 5 mm; otherwise, "Error" will be displayed and the travel distance cannot be
set.
• To calculate the mass ratio and ensure precise tuning, it is recommended to set the travel distance to 90 mm.
D V A N C E D
4
R U N
5
Keys
D V A N C E D
6.3 Advanced Autotuning (Fn201)
Operation
Display the main menu of the utility function mode,
and select Fn201.
Press the Key to display the initial setting screen
for advanced autotuning.
Note: If the display does not switch and NO-OP is
displayed, refer to (1) Check Points for Set-
tings.
Press the , or Key and set the items in
steps 3-1 to 3-4.
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."
∗If the level is set to 2 or 3, the "Pn102" display will
change to the "Pn141."
6
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