YASKAWA Σ-V Series User Manual page 156

5 Adjustments
5.3.1 Advanced Autotuning
• The mode switch is used.
Note: If a setting is made for calculating the mass, the mode switch function will be disabled while the mass is being cal-
• Speed feedforward or force feedforward is input.
• The positioning completed width (Pn522) is too small.
Change only the overshoot detection level (Pn561) to finely adjust the without changing the positioning com-
pleted width (Pn522). Because Pn561 is set by default to 100%, the allowable amount of overshooting is the
same amount as that for the positioning completed width.
When Pn561 is set to 0%, the amount of overshooting can be adjusted to prevent any overshooting in the posi-
tioning completed width. If the setting of Pn561 is changed, however, the positioning time may be extended.
Pn561
5-18
culated. At that time, PI control will be used. The mode switch function will be enabled after calculating the mass.
• Advanced autotuning makes adjustments based on the positioning completed width
(Pn522). If the SERVOPACK is operated in position control, set the electronic gear
ratio (Pn20E/Pn210) and positioning completed width (Pn522) to the actual value dur-
ing operation. If the SERVOPACK is operated in speed control, use the factory set-
tings.
• Unless the positioning completed signal (/COIN) is turned ON within approximately 3
seconds after positioning has been completed, "WAITING" will blink. Furthermore,
unless the positioning completed signal (/COIN) is turned ON within approximately 10
seconds, "Error" will blink for 2 seconds and tuning will be aborted.
Overshoot Detection Level
Setting Range
0 to 100
Speed
Setting Unit Factory Setting
1% 100
Position
Force
When Enabled
Immediately
Classification
Setup