Yaskawa Large Capacity Sigma II Series - Manual (Page 205)

5 Servo Adjustment
5.3.3 Saving Results of Online Autotuning
5-22
5.3.3 Saving Results of Online Autotuning
Online autotuning always processes the latest load moment of inertia to renew data so that
the speed loop gain will reach the target value that has been set. When the SERVOPACK is
turned OFF, all the processed data is lost. Therefore, when the SERVOPACK is turned ON
again, online autotuning is performed by processing the factory-set values in the SERVO-
PACK.
To save the results of online autotuning and use them as the initial values set in the SERVO-
PACK when the SERVOPACK is turned ON again, it is necessary to set parameter Fn007 in
the auxiliary function mode. In this case, the inertia value set in parameter Pn103 can be
changed.
On the basis of the rotor moment of inertia of the servomotor, the inertia ratio is expressed in
percentage terms by the load moment of inertia. The value set in Pn103 is used to calculate
the load moment of inertia at the time of online autotuning.
The inertia ratio is factory-set to 0%.
Before making servo gain adjustments manually, be sure to set the inertia ratio in Pn103 .If the inertia
ratio is incorrect, the speed loop gain (in 1-Hz increments) set in Pn100 will be wrong.
For details on setting Pn103, refer to 6.1.6 Operation in Parameter Setting Mode.
Pn103 Inertia Ratio Unit:
%
Setting
Range:
0 to 10000
Factory
Setting:
0
Speed/Torque
Control,
Position Control
Inertia ratio =
Motor axis conversion load moment of inertia (J )
Servomotor rotor moment of inertia (J )
M
L
× 100 (%)
IMPORTANT