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

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9.2 Online Autotuning9.2.7 Procedure for Saving the Results of Online AutotuningThe following procedure is used to save the results of online autotuning.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 parameter Fn007.*The digit that can be set will blink.3 Press the DATA/ENTER or DATA/SHIFT Key for one second orDATAENTERmore.DATA/(DATA/ENTER Key)(DATA/SHIFT) The display at the left will appear for a moment of inertia ratio of(More than 1 s.)200%.4 Press the DSPL/SET or MODE/SET Key.DSPLSETMODE/SETThe moment of inertia ratio will be saved.(DSPL/SET Key)(MODE/SET Key)When completed, “donE” will blink for about one second.5 About one second later After “donE” is displayed, the moment of inertia ratio will be displayedagain.6 Press the DATA/ENTER or DATA/SHIFT Key for one second orDATAENTERmore to return to the Fn007 display of the utility function mode.(DATA/ENTER Key)DATA/(DATA/SHIFT)(More than 1 s.)This completes saving the default value for the moment of inertia ratio for online autotuning. The next time thepower supply is turned ON, the value that was saved for the Moment of Inertia Ratio (Pn103) will be used to startonline autotuning.99-11
9 Adjustments9.3.1 Explanation of Servo Gain9.3 Manual Tuning9.3.1 Explanation of Servo GainThe block diagram for position control is as follows:Position control loopSpeed control loopSpeedSpeed patternTimeMovereference+-ErrorcounterPosition loopPositionloopgain KpSpeedreference+Speed Kv- controlsectionTiSpeed loopTf+-CurrentcontrolsectionElectricpowerconvertingCurrent loopServomotorMPGEncoderHost controller(provided by user)SERVOPACKKp Position Loop Gain (Pn102Kv Speed Loop Gain Pn100Ti Speed Loop Integral TimeConstant (Pn101)Tf Torque Reference Filter TimeConstant (Pn401)To adjust the servo gain manually, understand the configuration and characteristics of the SERVOPACK andadjust the servo gain parameters one by one. If one parameter is changed, it is almost always necessary to adjustthe other parameters. It will also be necessary to make preparations such as setting up a measuring instrument tomonitor the output waveform from the analog monitor.The SERVOPACK has three feedback loops (i.e., position loop, speed loop, and current loop). The innermostloop must have the highest response and the middle loop must have higher response than the outermost. If thisprinciple is not followed, it will result in vibration or responsiveness decreases.The SERVOPACK is designed to ensure that the current loop has good response performance. The user need toadjust only position loop gain and speed loop gain.9-12
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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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8 Operation8.5.1 Setting Parameters
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Page 494 and 495: 8 Operation8.7.3 Adjusting the Refe
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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 524 and 525: 9.3 Manual Tuning9.3.2 Servo Gain M
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
Page 566 and 567: 11.1 Servomotor Capacity Selection
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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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