Yaskawa Large Capacity Sigma II Series - Manual (Page 200)

5.3 Autotuning
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5.3.1 Online Autotuning
Online autotuning is a control function which enables the Servoamp to check changes in the
load moment of inertia during operation in order to maintain the target value for speed loop
gain or position loop gain.
Online autotuning may not work well in the following cases.
• When the cycle for load moment of inertia change is 200 ms or shorter (when the load
changes rapidly).
• When the application has slow acceleration or deceleration using the soft start function,
and the speed error of the servomotor being driven is small.
• When adjusting the servomotor manually and operating at low gain (a machine rigidity
of 1 or less).
Disable the online autotuning function if tuning is not possible. (See 5.4.3 Making Manual
Adjustments.)
Do not use online autotuning in the following cases.
• When driving using Torque Control Mode.
• When using IP control for the speed loop.
• When using the torque feed-forward function.
• When switching gain using /G-SEL.
IMPORTANT