Yaskawa Sigma Mini - Manual (Page 250)

SERVO ADJUSTMENT
A.2.1 Adjusting Using Autotuning
— A-4 —
A.2 Adjusting a Speed-control Servopack
This section gives examples of adjusting the gains of a speed-control Servopack
manually and using autotuning.
A.2.1 Adjusting Using Autotuning
Important Points about Autotuning
Speed During Autotuning
Autotuning 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).
Machine Rigidity Selection
If the machine rigidity is unknown, select the rigidity according to the following standards.
Drive Method Machine Rigidity
Ball screw, direct 3 (C-003) to 7 (C-007)
Ball screw, with reduction gears 2 (C-002) to 3 (C-003)
Timing belt 1 (C-001) to 3 (C-003)
Chain 1 (C-001) to 2 (C-002)
Wave decelerator (Harmonic Driver) 1 (C-001) to 2 (C-002)
Select the machine rigidity level 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
Autotuning 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 autotuning and change the machine rigidity selection.
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