Yaskawa Sigma II Series DC Power Input SGMAJ - Manual (Page 258)

9.2 Online Autotuning
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9.2.3 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 (moment of inertia 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 moment of inertia does not
change much or if the load moment of inertia is not known. The inertia calculated at the beginning of operation is used con-
tinously. In this case, differences in machine status and operation references at the beginning of operation may cause minor
differences in the calculation results of the load moment of inertia, causing differences in the servo responsiveness each
time the power supply is turned ON.
If this occurs, overwrite the moment of inertia ratio in Pn103 using the utility function Fn007 (Writing to EEPROM
moment of inertia 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 moment of inertia varies constantly. This setting enables a consistent respon-
siveness even when the load moment of inertia changes. If the load moment of inertia changes in less than 200 ms, how-
ever, the autotuning accuracy will deteriorate, 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 moment of inertia is known and the
moment of inertia 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