Yaskawa SGDH Linear Sigma Series - Manual (Page 327)

10.2 Online Autotuning
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10.2 Online Autotuning
10.2.1 Online Autotuning
Online autotuning calculates the load mass during operation of the SERVOPACK and sets parameters so that the
servo gains consistent with the Machine Rigidity (Fn001) are achieved.
Online autotuning may not be effective in the following cases.
• The load mass varies in less than 200 ms.
• The motor speed is lower than 100 mm/s or the acceleration reference is very even.
• Load rigidity is low and mechanical vibration occurs easily or friction is high.
• The speed reference is a stepwise reference.
If the condition meets one of the above cases or the desired operation cannot be achieved by the online
autotuning, calculate the load mass on the basis of the machine specifications or using the mass detection
function of Yaskawa’s servodrive supporting tool “SigmaWin+.” Set the value in Pn103 and perform the
adjustment manually.
The following utility function is also available for the online autotuning.
Fn007: Writes the load mass calculated by the online autotuning in Pn103 and uses as the default value for the
next calculation.