Yaskawa Σ-V Series AC Servo Drives Rotational Motor MECHATROLINK-III - Manual (Page 131)

5.3 Advanced Autotuning (Fn201)
5-21
5
Adjustments
5.3.2 Advanced Autotuning Procedure
The following procedure is used for advanced autotuning.
The SigmaWin+ is required to execute this function.
(1) Operating Procedure
Use the following procedure.
CAUTION
• When using the SERVOPACK with Jcalc = OFF (load moment of inertia is not calculated), be sure to set a
suitable value for the moment of inertia ratio (Pn103). If the setting greatly differs from the actual moment
of inertia ratio, normal control of the SERVOPACK may not be possible, and vibration may result.
• When using the MP2000 Series with phase control, select the mode = 1 (standard level). If 2 or 3 is
selected, phase control of the MP2000 Series may not be possible.
WARNING
Advanced autotuning involves motor operation, and it is therefore hazardous.
Refer to the SigmaWin+ Operation Manual before performing autotuning without reference input.
Be particularly careful of the following point.
• Ensure safety near all moving parts.
Vibration may occur during autotuning. Provide an emergency stop means to shut OFF the power supply during
implementation. The motor will move in both directions within the movement range. Check the movement range
and direction, and provide overtravel prevention means and other safety measures as required.
CAUTION
Two methods are available to stop advanced autotuning while the motor is running, and the motor will stop according
to the method selected. Make sure to select the best method for the situation.
• If the SERVO OFF button is used, the motor will stop according to the stopping method after servo off specified
by the parameters.
• If the CANCEL button is used, the motor will decelerate to a stop and then enter a zero clamp state.
Note: The CANCEL button may be invalid in some SERVOPACKs.