Yaskawa SGDH Linear Sigma Series Bedienungsanleitung Seite 328
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10 Adjustments
10.2.2 Online Autotuning Procedure
10-6
10.2.2 Online Autotuning Procedure
• Do not perform extreme adjustment or setting changes causing unstable servo operation.
Failure to observe this warning may result in injury and damages to the machine.
• Adjust the gains slowly while confirming motor operation.
WARNING
Start
Operate with factory setting.
(Set Pn110.0 = 0.)
Operation OK?
Load mass varies?
Operation OK?
Continuous online autotuning.
(Set Pn110.0 = 1.)
Ajust the machine rigidity setting.
(Set at Fn001.)
Operation OK?
Operation OK?
Do not perform online autotuning.
(Set Pn110.0 = 2.)
Adjust the friction compensation.
(Set Pn110.2.)
Yes
Yes
Yes
Yes
Yes
No
No
No
No
No
End
Write the result of autotuning
in the parameter.
The result will be used as the
default vaue for next autotuning.
(Utility function Fn007)
- Linear Sigma Series 1
- About this Manual 3
- Related Manuals 5
- Safety Information 6
- Notes for Safe Operation 7
- Checking on Delivery 8
- Storage and Transportation 8
- Installation 9
- Operation 11
- CONTENTS 13
- Wiring 16
- Operation 18
- Adjustments 19
- Revision History 21
- 1.1 Checking Products 24
- 1.1.3 SERVOPACKs 25
- SERIAL CONVERTER 26
- 1.2 Product Part Names 27
- (2) SGDH for 7.5 kW 29
- SGDH-AE 31
- SGDH-DE 32
- 1.4 Applicable Standards 33
- 1 Outline 34
- 1.4.2 CE Marking 34
- Selections 35
- SGL G W 㧙 40 A 140 A P 36
- SGL 40 225 A C 36
- 10SGDH - A E 37
- 2 Selections 38
- D008JZDP 001 40
- 2.5 Selecting Cables 41
- 2.6.1 Special Options 43
- 2.6.4 Regenerative Resistors 47
- 2.6.5 Linear Scales 48
- (a) 200-V Class 55
- (b) 400-V Class 56
- SGLTW-40A400B SGLTW-40A600B 61
- SGLTW-80A400B SGLTW-80A600B 61
- SGLTW-35D170H SGLTW-35D320H 62
- SGLTW-50D170H SGLTW-50D320H 62
- SGLTW-40D400B SGLTW-40D600B 62
- SGLTW-80D400B SGLTW-80D600B 62
- (1) Impact Resistance 63
- (2) Vibration Resistance 63
- * Reference length 65
- Units: mm (in) 65
- SGLFW-20A090A 75
- SGLFW-20A120A 75
- -0.3 76
- 35 (1.38) 77
- 18 (0.71) 77
- 43 (1.69)* 80
- SGLFW-1Zغ200Bغ 81
- SGLFW-1Zغ380Bغ 81
- 54 (2.13) 85
- A Linear Servomotors 86
- YASK AWA 90
- 3.8.5 SGLT 94
- Linear Servomotors 94
- 1 (0.04) 96
- 33.75 (1.33) 98
- 67.5 (2.66) 98
- 25 (0.98) 98
- Drawings 99
- 4.1.2 Three-phase 400 V 100
- Speed reguration 102
- Rated motor speed 102
- 4.2 SERVOPACK Installation 103
- Ventilation 104
- Single-phase 105
- 200 to 230V 105
- (50/60 Hz) 105
- Control power 107
- (not provided) 107
- + Maximum force 110
- (1) Base-mounted Type 112
- SERVOPACK 113
- (Mounting pitch) 115
- Mounting Hole Diagram 115
- 149.5±0.5 (5.89±0.02) 115
- 160 (6.30) 115
- Terminal 116
- 4×M5 tap 117
- 4×M5 screw taps 118
- 4×M6 screw holes 119
- (1) Model: JZDP-D00- 122
- IMPORTANT 123
- (2) Connection Example 124
- Dimensional Drawing 124
- Drawings of Cables and 129
- Peripheral Devices 129
- (1) JZSP-CLN11 Cables 130
- (2) JZSP-CLN21 Cables 131
- (3) JZSP-CLN39 Cables 132
- (1) Cable Type 135
- (2) Dimensional Drawing 135
- (3) Specifications 135
- 6.5 Flexible Cables 138
- (b) Fixing method 139
- (c) Cable length 139
- 6.6.1 Cable Types 140
- 6.6.2 Single-phase 200 V 141
- 6.6.3 Three-phase 200 V 141
- 6.6.4 Three-phase 400 V 142
- 6.7.1 Standard Cables 143
- (3) Cable Size 144
- 6.7.3 Connection Diagram 145
- 6.8 Peripheral Devices 146
- 29.5 (1.16) 146
- 39 (11.89) 146
- MODE/SET DATA/ 147
- (1) Model: JUSP-TA50P 148
- 6.8.6 Regenerative Resistor 150
- (1) Maximum Input Current 151
- (2) Inrush Current 151
- 6.8.8 Noise Filter 152
- (2) Three-phase, 200/400 V 153
- (b) FMAC Series 154
- SCHAFFNER 155
- (1) Specifications 156
- (2) Dimensional Drawings 157
- (2) Specifications 158
- (1) Model: JUSP-NS300 159
- (3) Dimensional Drawings 159
- (1) Model: JUSP-NS500 160
- (1) Model: JUSP-NS600 162
- Nameplate 163
- 7.1.1 Introduction 166
- First magnetic way 167
- Second magnetic way 167
- Align the angle 167
- Rotate the magnetic way 167
- (1) Magnetic Way Installation 168
- 7 Wiring 170
- Magnetic attraction 172
- Magnetic way 174
- Movable table 174
- Coil assembly 174
- Air gap G 175
- Magnetic 175
- Positioning steps 176
- Spacer for transport 176
- Installation for details 177
- (3) Magnetic Attraction 179
- 7.2 Wiring Main Circuit 180
- 8 to 9 mm 182
- (0.31 to 0.35 inches) 182
- (1) Single-phase, 200 V 183
- (2) Three-phase, 200 V 183
- (For servo 184
- alarm display) 184
- (4) DC Power Supply Input 185
- 7.4.1 Speed Control Mode 187
- 7.4.2 Position Control Mode 188
- 7.4.3 Force Control Mode 189
- (/COIN+) 190
- (1) Input Signals 191
- (2) Output Signals 192
- 7.4.6 Interface Circuit 193
- (4) Output Circuit Interface 194
- 7.5 Others 196
- 7.5.1 Wiring Precautions 196
- (Grounding) 197
- (3) Using Noise Filters 198
- Incorrect 199
- DC reactor 202
- Three-phase input 202
- Position 205
- L1 L2 L3 207
- Turn ON the power 213
- 8.1.4 Status Display 214
- Bit data 214
- (2) Codes and Meanings 215
- Blinks for 216
- (DATA/ENTER Key) 217
- (1) Precautions 218
- (2) Related Parameter 218
- (3) Operation Procedure 218
- Code for custom orders 225
- 8.3.1 Setting Parameters 228
- (c) Parameter Indications 229
- 1st digit 231
- 2nd digit 231
- 3rd digit 231
- 4th digit 231
- means factory setting 232
- (3) Allocating Input Signals 235
- 8.4.1 List of Monitor Modes 238
- 76543218 239
- The top segment of 240
- The upper 16-bit data 241
- The lower 16-bit data 241
- Phase-V Phase-W 243
- 9 Operation 246
- 9.1 Trial Operation 248
- SERVOPACK Setup Procedure 250
- HEIDENHAIN 251
- Linear scale pitch (Pn280) = 252
- Linear servomotor cable 253
- (7) Setting Force Limit 255
- (6) Selecting No Hall Sensor 258
- (9) Setting the mass ratio 261
- (11) Setting Force Limit 261
- • Simple Confirmation 262
- • Detailed Confirmation 262
- (c) Detection Waveforms 263
- • Normal Detection 263
- • Detection Error 263
- Reference 266
- MODE/SET 267
- CHARGE POWER 267
- , and use 268
- , and use the ref 269
- 9.5 Control Mode Selection 273
- (1) Servo ON signal (/S-ON) 274
- SERVOPACK Servomotor 278
- 9.7.1 Setting Parameters 280
- 9.7.2 Setting Input Signals 281
- 9.7.3 Adjusting Offset 282
- 1 = 0.05 mV 284
- 9.7.4 Soft Start 285
- 9.7.5 Speed Reference Filter 285
- (1) Zero Clamp Function 285
- (2) Parameter Setting 286
- (3) Input Signal Setting 286
- 9.7.7 Encoder Signal Output 287
- Motor speed 290
- Reference speed 290
- /V-CMP is output in 290
- 9.8.1 Setting Parameters 291
- (4) Clear Operation Selection 292
- (1) Scale Feedback Resolution 293
- (2) Electronic Gear 293
- (3) Related Parameters 294
- Servo ON 296
- Baseblock 296
- Sign + pulse train 296
- Encoder pulses 296
- (3) Connection Example 298
- 9.8.4 Smoothing 299
- (2) Filter-related Parameters 300
- ≤ 0.5 ms 303
- Reference voltage (V) 304
- Reference force 304
- Rated force 304
- 128 to +127 306
- 1 = 14.7 mV 306
- 9.10.1 Setting Parameters 309
- 9.10.2 Input Signal Settings 310
- 9.11 Limiting Force 312
- (1) Related Parameters 313
- (2) Input Signals 313
- 9.12 Control Mode Selection 318
- 9.12.1 Setting Parameters 318
- 9.13 Other Output Signals 320
- Adjustments 323
- 10.1 Autotuning 324
- (1) Autotuning Functions 325
- 10 Adjustments 326
- 10.2 Online Autotuning 327
- 10.2.1 Online Autotuning 327
- • Speed Loop PI Control 330
- 10.3 Manual Tuning 334
- 10.3.3 Position Loop Gain 335
- 10.3.4 Speed Loop Gain 336
- Kp: Position loop gain 338
- : Feed-forward gain 338
- (1) PI/P Control 340
- (3) Related Parameter 340
- 10.4.7 Speed Feedback Filter 344
- (1) Adjustment Procedure 346
- (1) Force Reference Filter 348
- (2) Notch Filter 349
- 10.5 Analog Monitor 351
- • Related Parameters 352
- Inspection, Maintenance, and 353
- Troubleshooting 353
- 11.1 Troubleshooting 354
- 11.1.1 Alarm Display Table 354
- 11.1.2 Warning Display 356
- ALO1 ALO2 ALO3 357
- ±10 degrees 369
- Servomotor 373
- Overheated 373
- 11.2.2 SERVOPACK Inspection 374
- Appendix 377
- SGDH-04AE SERVOPACK 378
- (6) Result 379
- 12.2.1 Simple Calculation 380
- 12 Appendix 382
- (1) Calculation Procedure 383
- (a) SGLGW Linear Servomotors 385
- Model : SGLGW 386
- Model SGLFW 388
- Model SGLTW 389
- 10DE,15DE 391
- 20DE,30DE 391
- Control power supply 393
- Main circuit power supply 393
- 12.4 List of Parameters 399
- 12.4.2 List of Parameters 400
- Input signal polarities 410
- 12.4.3 Monitor Modes 416
- Setting 417
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