Yaskawa SGDH Linear Sigma Series - Manual (Page 332)

10 Adjustments
10.2.6 Saving the Results of Online Autotuning
10-10
10.2.6 Saving the Results of Online Autotuning
For online autotuning, the most recent load mass is calculated and the control parameters are adjusted to achieve
response suitable for the machine rigidity setting. When online autotuning is performed, the Position Loop Gain
(Pn102), Speed Loop Gain (Pn100), and Speed Loop Integral Time Constant (Pn101) are saved. When the power
supply to the SERVOPACK is turned OFF, however, the calculated load mass is lost and the factory setting is
used as the default value to start autotuning the next time the power supply is turned ON.
To use the calculated load mass as the default value the next time the power supply is turned ON, the utility
function mode parameter Fn007 (Writing to EEPROM mass ratio data obtained from online autotuning) can be
used to save the most recent value in parameter Pn103 (Mass Ratio). The mass ratio is given as the mass ratio (%)
of the coil assembly mass of the linear servomotor.
* The setting range for the software version 32 or later.
• Always set the correct mass ratio when online autotuning is not used.
If the mass ratio is set incorrectly, vibration may occur.
CAUTION
Pn103 Mass Ratio
Setting Range Setting Unit Factory Setting Setting Validation
0 to 10,000
(0 to 20,000)*
1% 0 Immediately
The factory setting for the mass ratio is 0% (no-load operation of linear servomotor without connecting a machine).
Speed Position Force
Mass ratio= − 1 × 100 (%)
Linear servomotor coil assembly mass (M M )
Load mass (M L ) (includes coil assembly)