With this function, the following restrictions are applied in accordance with the version number of the SER-VOPACK software and the encoder being used.
The applicable servomotor depends on the type of encoder used.
• 13-bit encoder: SGMJV-A
• 20-bit or 17-bit encoder: SGMV-D, SGMV-3
SGMPS-C, SGMPS-2
∗1. The software version number of your SERVOPACK can be checked with Fn012.
∗2. If any mode other than Mode 1 is selected, tuning will fail and result in an error.
∗3. Model following control type is not used.
∗4. Position errors may result in overshooting when positioning. The positioning time may be extended if the positioning completed width (Pn522) is set to a small value.
∗5. Model following control type 2 can suppress overshooting resulting from position errors better than Type 1. If com-patibility with SERVOPACK version 0007 or earlier is required, use model following control type 1 (Pn14F.0 = 0).
The control related switch (Pn14F) was added to SERVOPACK software version 0008 or later.
Software Version*1
13-bit Encoder 20-bit or 17-bit Encoder
Mode Model Following
Control Type Mode Model Following
Control Type Version 0007 or
ear-lier
Only Mode 1 can be selected.*2
–*3 No restrictions
Type 1*4 Version 0008 or
lat-er Only Mode 1 can be
selected.
Type 1 or 2 [Factory setting]*5
Parameter Function When Enabled Classification
Pn14F
n.0 Model following control type 1
After restart Tuning n.1
[Factory setting] Model following control type 2
5 Adjustments
5.4.2 Advanced Autotuning by Reference Procedure
5.4.2 Advanced Autotuning by Reference Procedure
The following procedure is used for advanced autotuning by reference.
Advanced autotuning by reference is performed from the digital operator (option) or SigmaWin+.
Here, the operating procedure from the digital operator is described.
Refer to the Σ-V Series User’s Manual, Operation of Digital Operator (No.: SIEP S800000 55) for basic key operations of the digital operator.
(1) Operating Procedure
Set the correct moment of inertia ratio in Pn103 by using the advanced autotuning before performing this pro-cedure.
CAUTION
• When using the MP2000 Series with phase control, select the mode = 1 (standard level). If 2 or 3 is selected, phase control of the MP2000 Series may not be possible.
Step Display after Operation Keys Operation
1
Press the Key to view the main menu for the utility function.
Use the or Key to move through the list and select Fn202.
2 Press the Key to display the initial setting screen
for Fn202 (Advanced Autotuning by Reference).
3 Press the , , or Key and set the items in
steps 3-1 and 3-2.
3-1
Mode Selection Select the mode.
Mode = 1: Makes adjustments considering response characteristics and stability (Standard level).
Mode = 2: Makes adjustments for positioning [Factory setting].
Mode = 3: Makes adjustments for positioning, giving priority to overshooting suppression.
3-2
Type Selection
Select the type according to the machine element to be driven.
If there is noise or the gain does not increase, better results may be obtained by changing the rigidity type.
Type = 1: For belt drive mechanisms
Type = 2: For ball screw drive mechanisms [Factory setting]
Type = 3: For rigid systems in which the servomotor is directly coupled to the machine (without gear or other transmissions)
4
Press the Key. The advanced autotuning by ref-erence execution screen will be displayed.
Note: If the mode is set to 1, Pn102 is displayed. If the mode is set to 2 or 3, the Pn102 display will change to the Pn141.
㧮㧮 ޓ̆㧲㨁㧺㧯㨀㧵㧻㧺̆
㧲㨚㧞㧜㧝㧦㧭㧭㨀 㧲㨚㧞㧜㧞㧦㧾㨑㨒㧭㧭㨀 㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚 㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎ޓ㧿㨡㨜
㧮㧮 㧭㨐㨢㨍㨚㨏㨑㨐 㧭㨀 ޓ㧹 㨛 㨐 㨑㧩㧟ޓ㨀㨥㨜㨑㧩㧞
Status Display
㧮㧮 㧭㨐㨢㨍㨚㨏㨑㨐 㧭㨀 ޓ㧹 㨛 㨐 㨑㧩㧟ޓ㨀㨥㨜㨑㧩㧞
㧮㧮 㧭㨐㨢㨍㨚㨏㨑㨐 㧭㨀 㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜
㧼㨚㧝㧜㧜㧩㧜㧜㧠㧜㧜 㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜 㧼㨚㧝㧠㧝㧩㧜㧜㧡㧜㧜
5.4 Advanced Autotuning by Reference (Fn202)
5
Adjustments
(2) Failure in Operation
When "NO-OP" Flashes on the Display
When "Error" Flashes on the Display
6
Input a reference from the host controller and then press the or Key to start the adjustment.
"ADJ" will flash during adjustment on the status dis-play.
Note: Adjustment cannot be performed during "BB"
is shown on the status display.
7 − When the adjustment has been completed normally,
"END" will flash for approximately two seconds and
"ADJ" will be displayed.
8
Press the Key to save the settings. "DONE" will flash for approximately two seconds and "RUN" will be displayed.
Note: Not to save the values set in step 6, press the Key. The display will return to that shown in step 1.
(cont’d)
Step Display after Operation Keys Operation
㧭㧰㧶 㧭㨐㨢㨍㨚㨏㨑㨐 㧭㨀
Probable Cause Corrective Actions
The main circuit power supply was OFF. Turn ON the main circuit power supply.
An alarm or warning occurred. Remove the cause of the alarm or the warning.
Overtraveling occurred. Remove the cause of the overtravel.
Gain setting 2 was selected by gain switching. Disable the automatic gain switching.
HWBB operated. Disable the HWBB function.
Error Probable Cause Corrective Actions
The gain adjustment was not successfully completed.
Machine vibration is occurring or the posi-tioning completed signal (/COIN) is turning ON and OFF when the servomotor is stopped.
• Increase the set value for Pn522.
• Change the mode from 2 to 3.
• If machine vibration occurs, suppress the vibration with the anti-resonance control adjustment function and the vibration sup-pression function.
The positioning complet-ed signal
(/COIN) did not turn ON within approximately 10 seconds after position-ing adjustment was com-pleted.
The positioning completed width is too nar-row or proportional control (P control) is being used.
• Increase the set value for Pn522.
• Set 0 to V_PPI of OPTION field.
5 Adjustments
5.4.2 Advanced Autotuning by Reference Procedure