Yaskawa Sigma II Series Servo System - Manual (Page 263)

Sigma II User’s Manual Chapter 6: Servo Adjustment
6 - 31
This completes the procedure for saving the results of online auto-tuning. When the
servo amplifier is turned ON again, the inertia ratio set in Pn103 will be used as the
default value.
6.3.4 Parameters Related to Online Auto-Tuning
This section provides information on a variety of parameters related to online auto-
tuning.
Online Auto-Tuning Method
The following parameter is used to set the auto-tuning conditions.
This parameter is default set to “0”. If the load inertia change is minimal or if the
application makes few changes, there is no need to continue calculating the 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 inertia always fluctuates due to the load
conditions. Then the response characteristics can be kept stable by continuously
refreshing the inertia calculation data is refreshed continuously and reflecting them
in the servo gain.
If the load inertia fluctuation results within 200 ms, the inertia calculation data may
not be refreshed properly. If that happens, set Pn110.0 to “0” or “2.”
Set Pn110.0 to “2” if auto-tuning is not available or if the online auto-tuning function
is not used because the load inertia is already known and the servo amplifier is
manually adjusted by setting the inertia ratio data in Pn103.
Parameter Signal
Setting
(%)
Description
Pn110.0
Online Auto-Tuning
Method
Default Setting: 0
Speed control,
Position Control
Pn110.0 Setting Result
0
Auto-Tuning is performed only when the system runs for the first time after the power
is turned ON. After the load inertia is calculated, the calculated data is not refreshed.
1 Auto-Tuning is continuously performed (inertia value calculation).
2 The online auto-tuning function is not used.