Yaskawa SGDH Linear Sigma Series - Manual (Page 329)

10.2 Online Autotuning
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10.2.3 Selecting the Online Autotuning Execution Method
There are three methods that can be used for online autotuning: At start of operation, constantly, and none. The
selection method is described next.
Pn110 Online Autotuning Switches
Setting Range Setting Unit Factory Setting Setting Validation
− − 0010 After restart
Parameter Meaning
Pn110 n.†††0 Online autotuning is performed only after the first time power is turned ON. (Factory Setting)
n.†††1 Online autotuning (mass calculations) is performed continuously.
n.†††2 Online autotuning is not performed.
The factory setting is n.†††0. This setting is recommended for applications in which the load mass does not change
much or if the load mass is not known. The mass calculated at the beginning of operation is used continuously. In this case,
differences in machine status and operation references at the beginning of operation may cause minor differences in the cal-
culation results of the load mass, causing differences in the servo responsiveness each time the power supply is turned ON.
If this occurs, overwrite the mass ratio in Pn103 using the utility function Fn007 (Writing to EEPROM mass ratio data
obtained from online autotuning), and set Pn110 to n.†††2 to disable online autotuning.
The setting n.†††1 is used when the load mass varies constantly. This setting enables a consistent responsiveness even
when the load mass changes. If the load mass changes in less than 200 ms, however, the autotuning accuracy will deterio-
rate, in which case Pn110.0 should be set to 0 or 2.
The setting n.†††2 is used when online autotuning is not possible, when the load mass is known and the mass ratio is set
in Pn103 to perform the adjustment manually, or any other time the online autotuning function is not going to be used.
Speed Position