YASKAWA Sigma Mini SGMM Series User Manual page 255

SERVO ADJUSTMENT
A.3.1 Adjusting Using Autotuning
A.3 Adjusting a Position-control Servopack
A
A.3.1 Adjusting Using Autotuning
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This section provides examples of adjusting the gains of a position-control Servopack
manually and using autotuning.
Autotuning
Speed During Autotuning
Autotuning may not function correctly if the speed is too low. Set the speed to approxi-
−1
mately 500 min .
Set the speed with the parameter Cn-10 (Jog Speed).
Machine Rigidity Selection
If the machine rigidity is unknown, select the rigidity according to the following standards.
Drive Method
Ball screw, direct
Ball screw, with reduction gears
Timing belt
Chain
Wave decelerator (Harmonic Driver)
Select the machine rigidity level according to the following table.
Level Rigidity
7 (C-007) High
6 (C-006)
⋮
5 (C-005)
⋮
4 (C-004)
⋮
3 (C-003) Medium
2 (C-002)
⋮
1 (C-001) Low
Autotuning may not end if high response is selected for a low-rigidity machine or low
response is selected for a high-rigidity machine.
If this occurs, halt the autotuning and change the machine rigidity selection.
— A-8 —
Machine Rigidity
3 (C-003) to 7 (C-007)
2 (C-002) to 3 (C-003)
1 (C-001) to 3 (C-003)
1 (C-001) to 2 (C-002)
1 (C-001) to 2 (C-002)