Yaskawa Large Capacity Sigma II Series - Manual (Page 208)

5.3 Autotuning
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5
5.3.4 Parameters Related to Online Autotuning
This section provides information on a variety of parameters related to online autotuning.
„ Online Autotuning Method
The following parameter is used for setting the autotuning conditions.
This parameter is factory-set to “0.” If the load moment of inertia change is minimal or if
the application makes few changes, there is no need to continue calculating the moment of
inertia while the system is in operation. Instead, continue to use the value that was calculated
when the system was first started up.
Set this parameter to “1” if the load moment of inertia always fluctuates due to the load con-
ditions. Then the response characteristics can be kept stable by continuously refreshing the
moment of inertia calculation data and reflecting them in the servo gain.
If the load moment of inertia fluctuation results within 200 ms, the moment of inertia calcu-
lation data may not be refreshed properly. If that happens, set Pn110.0 to “0” or “2.”
Set Pn110.0 to “2” if autotuning is not available or if the online autotuning function is not
used because the load moment of intertia is already known and the SERVOPACK is manu-
ally adjusted by setting the inertia ratio data in Pn103.
Pn110.0 Online Autotuning Method Factory
Setting:
0
Speed Control,
Position Control
Pn110.0 Setting Contents
0 Autotuning is performed only when the system runs for the first time
after the power is turned ON. After the load moment of inertia is calcu-
lated, the calculated data is not refreshed.
1 Autotuning is continuously performed (moment of inertia value calcula-
tion).
2 The online autotuning function is not used.