Sigma-II Series SGM*H/SGDH USER'S MANUAL - Esco Drives ...

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9.2 Online Autotuning9.2.3 Selecting the Online Autotuning Execution MethodThere are three methods that can be used for online autotuning: At start of operation, constantly, and none. Theselection method is described next.Pn110Online Autotuning SwitchesSpeedPositionSetting Range Setting Unit Factory Setting Setting Validation− − 0010 After restartParameterMeaningPn110 n.0 Online autotuning is performed only after the first time power is turned ON. (Factory Setting)n.1 Online autotuning (moment of inertia calculations) is performed continuously.n.2 Online autotuning is not performed.The factory setting is n.0. This setting is recommended for applications in which the load moment of inertia does notchange much or if the load moment of inertia is not known. The inertia calculated at the beginning of operation is used continously.In this case, differences in machine status and operation references at the beginning of operation may cause minordifferences in the calculation results of the load moment of inertia, causing differences in the servo responsiveness eachtime the power supply is turned ON.If this occurs, overwrite the moment of inertia ratio in Pn103 using the utility function Fn007 (Writing to EEPROMmoment of inertia ratio data obtained from online autotuning), and set Pn110 to n.2 to disable online autotuning.The setting n.1 is used when the load moment of inertia varies constantly. This setting enables a consistent responsivenesseven when the load moment of inertia changes. If the load moment of inertia changes in less than 200 ms, however,the autotuning accuracy will deteriorate, in which case Pn110.0 should be set to 0 or 2.The setting n.2 is used when online autotuning is not possible, when the load moment of inertia is known and themoment of inertia ratio is set in Pn103 to perform the adjustment manually, or any other time the online autotuning functionis not going to be used.99-7
9 Adjustments9.2.4 Machine Rigidity Setting for Online Autotuning9.2.4 Machine Rigidity Setting for Online AutotuningThere are ten machine rigidity settings for online autotuning. When the machine rigidity setting is selected, theservo gains (Speed Loop Gain, Speed Loop Integral Time Constant, Position Loop Gain, and Torque ReferenceFilter Time Constant) are determined automatically. The factory setting for the machine rigidity setting is 4. Thespeed loop is suitable for PI or I-P control.When parameter Pn10B.1 is 0, PI control will be used and when Pn10B.1 is 1, I-P control will be used. To validatethe setting, however, the power supply must be turned OFF and then back ON.After having validated the setting, always set the machine rigidity setting.When setting the machine rigidity after having changed the position loop gain (Pn102), the value closest to theset position loop gain is displayed as the initial value of machine rigidity.• Speed Loop PI ControlMachine RigiditySettingFn001Position Loop Gain[s -1 ]Pn102Speed Loop Gain[Hz]Pn100Speed Loop IntegralTime Constant[0.01 ms]Pn101Torque ReferenceFilter Time Constant[0.01 ms]Pn4011 15 15 6000 2502 20 20 4500 2003 30 30 3000 1304 40 40 2000 1005 60 60 1500 706 85 85 1000 507 120 120 800 308 160 160 600 209 200 200 500 1510 250 250 400 10If the machine rigidity setting is greater, the servo gain will increase and positioning time will decrease. If thesetting is too large, however, vibration may result depending on the machine configuration. Set the machinerigidity starting at a low value and increasing it within the range where vibration does not occur.9-8
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YASKAWASeries SGMH/SGDHUSER'S MANUA
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• Quick access to your required i
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WARNING• Installation, disassembl
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• WiringCAUTION• Do not connect
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• Maintenance and InspectionCAUTI
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2.6.1 Special Options - - - - - - -
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3.16 Dimensional Drawings of SGMSH
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5 Specifications and Dimensional Dr
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6.2.1 Connecting an Encoder (CN2) a
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8.7.1 Setting Parameters - - - - -
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11.3.1 Utility Functions List - - -
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PURODUCT SERVICE1 Outline1.1.1 Chec
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1 Outline1.2.1 Servomotors1.2 Produ
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1 Outline1.2.2 SERVOPACKs(2) SGDH f
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1 Outline1.3.2 Three-phase, 200 V M
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1 Outline1.4.1 North American Safet
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2 Selections2.1.1 Model SGMAH (3000
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2 Selections2.1.2 Model SGMPH (3000
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2 Selections2.1.3 Model SGMGH (1500
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2 Selections2.1.4 Model SGMGH (1000
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2 Selections2.1.5 Model SGMSH (3000
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2 Selections2.1.6 Model SGMDH (2000
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2 Selections2.2.1 Support Tool for
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2 Selections2.2.2 Servomotor Capaci
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2 Selections2.5.1 Cables for SGMAH
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2 Selections2.5.1 Cables for SGMAH
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2 Selections2.5.2 Cables for SGMGH/
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2 Selections2.5.2 Cables for SGMGH/
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MODE/SETCHARGEDATA/POWER67534675346
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2 Selections2.6.1 Special OptionsNa
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2 Selections2.6.3 Noise Filters, Ma
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2 Selections2.6.4 Regenerative Resi
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φLBh7φSh6119.5(0.37)W3 Specificat
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φLBh7φSh617(0.67)9.5 (0.37)W3 Spe
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11 (0.43)W3 Specifications and Dime
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W3 Specifications and Dimensional D
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4 SERVOPACK Specifications and Dime
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MODE/SETCHARGEDATA/POWER4 SERVOPACK
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160 (6.30)(5) (0.20)149.5±0.5 (5.8
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YASKAWAMODE/SETCHARGEYASKAWA SERVOP
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POWERMODE/SETDATA/4 SERVOPACK Speci
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MODE/SETDATA/4 SERVOPACK Specificat
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MODE/SETCHANGEDATA/POWER4 SERVOPACK
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POWERMODE/SETDATA/4 SERVOPACK Speci
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POWERMODE/SET DATA/ BATTERY4 SERVOP
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6754675346754381 2890 1 281 29090X1
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6 Wiring6.1.1 Names and Functions o
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6 Wiring6.1.2 Wiring Main Circuit P
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6 Wiring6.1.3 Typical Main Circuit
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6 Wiring6.2.1 Connecting an Encoder
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6 Wiring6.3.1 Speed Control Mode6.3
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6 Wiring6.3.3 Torque Control Mode6.
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6 Wiring6.3.5 I/O Signal (CN1) Name
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6 Wiring6.3.6 Interface Circuit6.3.
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6 Wiring6.3.6 Interface Circuit(b)
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6 Wiring6.4.2 Wiring for Noise Cont
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6 Wiring6.4.2 Wiring for Noise Cont
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6 Wiring6.4.3 Installation Conditio
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6 Wiring6.4.4 Installation Conditio
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6 Wiring6.4.6 Extending Encoder Cab
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6 Wiring6.4.7 Operating Conditions
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6 Wiring6.4.8 DC Reactor for Harmon
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6 Wiring6.5.2 Connecting External R
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MODE/SETCHARGEYASKAWA SERVOPACKDATA
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7Digital Operator/Panel Operator7.1
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7.1 Functions on Digital Operator/P
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7.2 Operation in Utility Function M
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7.3 Operation in Parameter Setting
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7.4 Operation in Monitor Mode (Un)(
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7.4 Operation in Monitor Mode (Un)S
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8 Operation8.6 Operating Using Posi
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YASKAWAMODE/SETCHARGEYASKAWAMODE/SE
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MODE/SETYASKAWASERVOPACKSGDH-CHARGE
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8 Operation8.1.1 Trial Operation fo
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YASKAWASERVOPACKSGDH-MODE/SETCHARGE
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8 Operation8.1.4 Servomotor with Br
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8 Operation8.3.1 Setting the Servo
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8 Operation8.3.3 Setting the Overtr
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8 Operation8.3.4 Setting for Holdin
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8 Operation8.3.4 Setting for Holdin
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8 Operation8.3.6 Instantaneous Powe
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8 Operation8.4.1 Interface Circuits
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8 Operation8.4.4 Replacing Batterie
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8 Operation8.4.6 Absolute Encoder R
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8 Operation8.4.6 Absolute Encoder R
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Page 512 and 513: 9Adjustments9.1 Autotuning - - - -
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Page 516 and 517: 9.2 Online Autotuning9.2 Online Aut
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Page 526 and 527: 9.4 Servo Gain Adjustment Functions
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Page 542 and 543: 10 Inspection, Maintenance, and Tro
Page 564 and 565: 11Appendix11.1 Servomotor Capacity
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11.1 Servomotor Capacity Selection
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11.2 Connection to Host Controller1
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11.3 List of Parameters11.3.2 List
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11.3 List of ParametersParameterNo.
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11.3 List of Parameters11.3.3 Monit
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11.4 Parameter Recording TableParam
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IndexINDEXAabsolute encoder battery
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IndexRrack-mounted type - - - - - -
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IndexWWARN- - - - - - - - - - - - -
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Series SGMH/SGDHUSER'S MANUALIRUMA
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