YASKAWA Sigma-V Series User Manual page 251

6 Adjustments
6.5.2 One-parameter Tuning Procedure
Setting the Tuning Mode 2 or 3
Step
1
2
3
4
4-1
4-2
5
6
7
6-40
Display after Operation
Status Display
Tuning Mode
Select the tuning mode. Select the tuning mode 2 or 3.
Tuning Mode = 2: Enables model following control and makes adjustments for positioning.
Tuning Mode = 3: Enables model following control, makes adjustments for positioning, and suppresses over-
shooting.
Type Selection
Select the type according to the machine element to be driven.
If there is noise or the gain does not increase, better results may be obtained by changing the rigidity type.
Type = 1: For belt drive mechanisms
Type = 2: For ball screw drive mechanisms [Factory setting]
Type = 3: For rigid systems in which the servomotor is directly coupled to the machine (without gear or other
transmissions).
Keys
Press the
utility function.
Press the
and select Fn203.
Press the
ratio set in Pn103 at present. Move the digit with the
or Key and change the value with the
or Key.
Press the Key to display the initial setting screen
for one-parameter tuning.
Press the ,
steps 4-1 and 4-2.
If the servomotor power is OFF, input a servo ON
signal (/S-ON) from the host controller. The display
–
will change from "BB" to "RUN."
If the servomotor power is ON, go to step 6.
Press the
Press the
FB LEVEL setting screens.
Operation
Key to view the main menu for the
or Key to move through the list
Key to display the moment of inertia
, or Key and set the items in
Key to display the set value.
Key again to display FF LEVEL and