YASKAWA Σ-V Series User Manual page 158

5 Adjustments
5.3.2 Advanced Autotuning Procedure
Step
4
5
6
7
8
9
10
11
5-20
Display after Operation
d v a n c e d
R U N d v a n c e d
d v a n c e d
Display example:
After the mass ratio is calcu-
lated.
A D J d v a n c e d
d v a n c e d
To enable the change in the setting, turn OFF the power and ON again.
Keys
Press the Key. The advanced autotuning execution
screen will be displayed.
Press the Key. The linear servomotor will become
servo ON state and the display will change from "BB"
to "RUN."
Note: If the mode is set to 2 or 3, the "Pn102" display
will change to the "Pn141."
Calculates the mass ratio.
Press the Key if a positive (+) value is set in
STROKE (travel distance), or press the
negative (-) value is set. Calculation of the mass ratio
will start. While the mass ratio is being calculated, the
set value for Pn103 will blink, and the "RUN" display
will change to blinking "ADJ." When the calculation
has been completed, the set value will stop blinking and
the calculated mass ratio will be displayed. The linear
servomotor will remain in servo ON state, but the auto
run operation will enter HOLD status.
Notes:
• The wrong key for the set travel direction is pressed,
the calculation will not start.
• If the mass ratio is not calculated, the set value for
Pn103 will be displayed but not blink.
• If "NO-OP" or "Error" are displayed, press the
Key to cancel the function. Refer to (2) Failure in
Operation and take a corrective action to enable oper-
ation.
After the linear servomotor is temporarily stopped,
press the Key to save the calculated value of the
mass ratio in the SERVOPACK. Then, "DONE" will
blink for approx. 1 second, and "ADJ" will be dis-
played.
To calculate the mass ratio but not save, press the
Key.
Gain Adjustment
When the
sign (+ or -) of the value set for STROKE (travel dis-
tance), the calculated value of the mass ratio will be
written to the SERVOPACK and the auto run operation
will restart. While the linear servomotor is running, the
gains and filters will be automatically set. "ADJ" will
blink during the auto setting operation.
Note: Precise adjustments cannot be made and "Error"
will be displayed as the status if there is vibration
when starting adjustments. If that occurs, make
adjustments using one-parameter tuning (Fn203).
When the adjustment has been completed normally, the
linear servomotor becomes the servo OFF state, and
"END" will blink for approx. 2 seconds and "ADJ" will
be displayed on the status display.
Press the Key. The adjusted values will be written
to the SERVOPACK, "DONE" will blink for approx. 2
seconds, and "BB" will be displayed.
Note: No to save the values, press the
display will return to the display in step 1.
Operation
Key if a
or Key is pressed according to the
Key. The