Yaskawa Sigma Mini - Manual (Page 254)

SERVO ADJUSTMENT
A.3.1 Adjusting Using Autotuning
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A.3 Adjusting a Position-control Servopack
This section provides examples of adjusting the gains of a position-control Servopack
manually and using autotuning.
A.3.1 Adjusting Using Autotuning
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 following 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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