YASKAWA Sigma-V Series User Manual page 114

3 Utility Function Mode
3.3.27 Advanced Autotuning (Fn201)
Step
This example shows when the moment of inertia ratio/mass ratio is calculated.
Press the
or press the
inertia ratio/mass ratio will start. While the moment of inertia ratio/mass ratio is being
calculated, the set value for Pn103 will flash. When the calculation has been completed,
the set value will stop flashing and the calculated load moment of inertia ratio/mass ratio
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will be displayed. The servo will remain ON, but the auto run operation will enter HOLD
status.
Note:
<Supplementary Information>
If the moment of inertia ratio/mass ratio is not calculated, the set value for Pn103 will be
displayed but not flash.
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When the
STROKE (travel distance), the calculated value of the moment of inertia ratio/mass ratio
will be written to the SERVOPACK and the auto run operation will restart. While the ser-
vomotor is running, the notch filter, the torque reference filter, and gains will be automat-
ically set. "ADJ" will flash during the auto setting operation.
Note: If the tuning operation is not completely normally, "Error" will appear on the sta-
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When the adjustment has been completed normally, the servo will turn OFF, and "End"
will blink for two seconds and "ADJ" will be displayed on the status display.
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R U N A D V A N C E D A T
P n 1 0 3 = 0 0 3 0 0
P n 1 0 0 = 0 0 4 0 . 0
P n 1 0 1 = 0 0 2 0 . 0
P n 1 4 1 = 0 0 5 0 . 0
Key if a positive (+) value is to be set for the STROKE (travel distance),
Key if a negative (-) value is to be set. Calculation of the moment of
• The wrong key for the set travel direction is pressed, the calculation will not start.
• If the tuning operation or the calculation of the moment of inertia ratio/mass ratio does
not start, "NO-OP" will blink. Refer to (5) Note on Advanced Autotuning Function,
and take a corrective action to enable operation.
• If the calculation of the moment of inertia ratio/mass ratio is not completed normally
because the required conditions are not met, "Pn103 = ERROR" will be displayed.
Refer to (6) Notes on Reference Input-type Advanced Autotuning, press the
to cancel the function, modify the settings, and then restart.
A d j A D V A N C E D A T
P n 1 0 3 = 0 0 3 0 0
P n 1 0 0 = 0 1 0 0 . 0
P n 1 0 1 = 0 0 0 6 . 3 6
P n 1 4 1 = 0 1 5 0 . 0
or
tus display. Adjust using Fn203 (One-parameter autotuning).
E n d A d v a n c e d A T
P n 1 0 3 = 0 0 3 0 0
P n 1 0 0 = 0 1 0 0 . 0
P n 1 0 1 = 0 0 0 6 . 3 6
P n 1 4 1 = 0 1 5 0 . 0
Display Example and Description
Key is pressed according to the sign (+ or -) of the value set for
Key