YASKAWA Sigma-V Series User Manual page 227

6 Adjustments
6.2.2 Tuning-less Levels Setting (Fn200) Procedure
Step
6
Note: If the rigidity level is changed, the automatically set notch filter will be canceled. If vibration occurs, however, the
notch filter will be set again automatically.
(3) Operating Procedure with Panel Operator
Step
1
2
3
4
5
6
7
(4) Alarm and Corrective Actions
The autotuning alarm (A.521) will occur if resonance sound is generated or excessive vibration occurs during
position control. In such case, take the following actions.
Resonance Sound
Reduce the setting of the rigidity level or load level.
Excessive Vibration during Position Control
Take one of the following actions to correct the problem.
• Increase the setting of the rigidity level or reduce the load level.
• Increase the setting of Pn170.3 or reduce the setting of Pn170.2.
6-16
Display after Operation
Display after Operation
Load level
Rigidity level
Keys
Press the
tion. The screen in step 1 will appear again.
Keys
Press the MODE/SET Key to select the utility func-
tion.
MODE/SET DATA/
Press the UP or the DOWN Key to select the Fn200.
MODE/SET DATA/
Press the DATA/SHIFT Key for approximately one
second to display the load level of the tuning-less
mode setting screen.
Note:
If the response waveform causes overshooting or if
MODE/SET DATA/
the load moment of inertia exceeds the allowable
level (i.e., outside the scope of product guarantee),
press the UP Key and change the load level to 2.
Press the MODE/SET Key to display the rigidity
level of the tuning-less mode setting screen.
MODE/SET DATA/
Press the UP or the DOWN Key to select the rigidity
level.
Select the rigidity level from 0 to 4. The larger the
value, the higher the gain is and the better response
performance will be. (The factory setting is 4.)
Notes:
• Vibration may occur if the rigidity level is too high.
MODE/SET DATA/
Lower the rigidity level if vibration occurs.
• If high-frequency noise is generated, press the
DATA/SHIFT Key to automatically set a notch fil-
ter to the vibration frequency.
Press the MODE/SET Key. "donE" will flash for
approximately one second and then L0004 will be
displayed. The settings are saved in the SERVO-
MODE/SET DATA/
PACK.
Press the DATA/SHIFT Key for approximately one
second. "Fn200" is displayed again.
MODE/SET DATA/
Operation
Key to complete the tuning-less func-
Operation
(cont'd)