Yaskawa SGDB - Manual (Page 550)

SERVO ADJUSTMENT
A.2.1 Adjusting Using Auto-tuning
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A.2 Adjusting a Speed-control SERVOPACK
This section gives examples of adjusting the gains of a speed-control SERVOPACK manually
and using auto-tuning.
A.2.1 Adjusting Using Auto-tuning
The DR1 SERVOPACK does not offer auto-tuning.
J Important Points About Auto-tuning
• Speed During Auto-tuning
Auto-tuning may not function correctly if the speed is too low. Set the speed to approxi-
mately 500 min
−1 .
Set the speed with the parameter Cn-10 (Jog speed).
• Selecting Machine Rigidity
If the machine rigidity is unknown, select the rigidity according to the following stan-
dards.
Drive Method Machine Rigidity
SGDB, SGDA, DR2 SGD
Ball screw, direct 3 (C-003) to 7 (C-007) High/medium response
Ball screw, with reduction gears 2 (C-002) to 3 (C-003) Medium response
Timing belt 1 (C-001) to 3 (C-003) Low/medium response
Chain 1 (C-001) to 2 (C-002) Low response
Wave reduction gears* 1 (C-001) to 2 (C-002) Low response
* Product name: Harmonic Drive
Select the machine rigidity level for SGDB, SGDA and DR2 according to the table.
Level Rigidity
7 (C-007) High
6 (C-006) ⋮
5 (C-005) ⋮
4 (C-004) ⋮
3 (C-003) Medium
2 (C-002) ⋮
1 (C-001) Low
Auto-tuning may not end if high response is selected for a low-rigidity machine or low
response is selected for a high-rigidity machine.
If this occurs, halt the auto-tuning and change the machine rigidity selection.
A