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

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9.2 Online Autotuning9.2.5 Method for Changing the Machine Rigidity SettingThe machine rigidity setting is changed in utility function mode using parameter Fn001. The procedure is givenbelow.Step Display after Operation Digital Operator PanelDescriptionOperator1DSPLPress the DSPL/SET or MODE/SET Key to select the utilitySETfunction mode.MODE/SET(DSPL/SET Key) (MODE/SET Key)2 Press the Up or Down Cursor Key to select Fn001.*The digit that can be set will blink.3 Press the DATA/ENTER or DATA/SHIFT Key for one second orDATAENTERmore.DATA/(DATA/SHIFT)(DATA/ENTER Key)The display shown at the left will appear and the rigidity for(More than 1 s.)online autotuning can be set.4 Press the Up or Down Cursor Key to select the machine rigiditysetting.UPDOWN5 Press the DSPL/SET or MODE/SET Key.DSPLSETMODE/SETThe rigidity setting will be changed and “donE” will blink on the(DSPL/SET Key) (MODE/SET Key)display for about one second.6 About one second later After “donE” is displayed, the setting will be displayed again.7 Press the DATA/ENTER or DATA/SHIFT Key for more than oneDATAENTERsecond to return to the Fn001 display of the utility functionDATA/mode.(DATA/ENTER Key)(DATA/SHIFT)(More than 1 s.)This completes changing the machine rigidity setting for online autotuning.99-9
9 Adjustments9.2.6 Saving the Results of Online Autotuning9.2.6 Saving the Results of Online AutotuningCAUTION• Always set the correct moment of inertia ratio when online autotuning is not used.If the moment of inertia ratio is set incorrectly, vibration may occur.For online autotuning, the most recent load moment of inertia is calculated and the control parameters areadjusted to achieve response suitable for the machine rigidity setting. When online autotuning is performed, thePosition Loop Gain (Pn102), Speed Loop Gain (Pn100), and Speed Loop Integral Time Constant (Pn101) aresaved. When the power supply to the SERVOPACK is turned OFF, however, the calculated load moment of inertiais lost and the factory setting is used as the default value to start autotuning the next time the power supply isturned ON.To use the calculated load moment of inertia as the default value the next time the power supply is turned ON, theutility function mode parameter Fn007 (Writing to EEPROM moment of inertia ratio data obtained from onlineautotuning) can be used to save the most recent value in parameter Pn103 (Moment of Inertia Ratio). Themoment of inertia ratio is given as the moment of inertia ratio (%) of the rotor moment of inertia of the servomotor.Pn103Moment of Inertia RatioSpeed Position TorqueSetting Range Setting Unit Factory Setting Setting Validation0 to 10,000 % 0 ImmediatelyMotor axis conversion load moment of inertia (J L)Moment of inertia ratio =Roter moment of inertia (J M)The factory setting for the moment of inertia ratio is 0% (no-load operation of motor without connecting a machine).9-10
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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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8 Operation8.4.7 Multiturn Limit Se
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Page 512 and 513: 9Adjustments9.1 Autotuning - - - -
Page 514 and 515: 9.1 Autotuning9.1.2 List of Servo A
Page 516 and 517: 9.2 Online Autotuning9.2 Online Aut
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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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