Yaskawa MP940 Reference Manual - Manual (Page 270)

SGDH User Parameters MotionSuite™ MP940 Machine Controller Reference Manual
6-70
Pn110
Online
Autotuning
Switches 0 Online
Autotun-
ing
Method
(0, 1, 2) Sets the conditions at autotuning execu-
tion.
0: Tuning is executed only at the initial run
after power feed. Calculated data can-
not be modified after load inertia calcula-
tion.
There is no need for constant inertia cal-
culations in applications where the
torque inertia variation is small, or does
not vary much. In this case the value
calculated at initial run can be used con-
tinuously.
1: Constant tuning (inertia value calcula-
tion)
This is used when the load inertia condi-
tions constantly vary. Consistent respon-
siveness can be maintained by
constantly updating the inertia calcula-
tion data and reflecting this update in the
servo gain.
If the load inertia variation occurs in a
time frame of 200ms or less, it is some-
times impossible to correctly update the
inertia calculation result. In this case, set
Pn110.0 = 0 or 2.
2: Online autotuning function not used.
Select if online autotuning is not used as
follows:
Cases In Which Autotuning Cannot be
Used:
When the load inertia is known before-
hand, the inertia ratio data is set into
Pn103, and tuning is done manually.
0 Speed
Position
1 Speed
Feedback
Compen-
sation
Function
Selection
(0, 1) Selects whether the speed feedback com-
pensation function is used/unused in the
autotuning operation. Special adjustment
is not necessary if online autotuning is
used.The manually adjusted values of the
speed feedback compensation function
user parameters are reflected in the tuning
operation.
0: Enabled; 1: Disabled
See “Speed Feedback Compensation
(Pn111)” for the speed feedback compen-
sation function. 1
Gain Related Parameters (Continued)
User
Parameter
Number
Digital
Position
Name
(setting
range)
Content
Default
Setting
Control
Mode