4.9 Online Autotuning
4.9.1 Online Autotuning
Online autotuning calculates the load moment of inertia during operation of the servo drive and sets parametersso that the
servo gains are consistent with the machine rigidity.
Online autotuning may not be effective in the following cases:
• The motor high speed is lower than 100 rpm.
• The motor acceleration or deceleration is lower than 5000rpm/s.
• Load rigidity is low and mechanical vibration occurs easily or friction is high.
•The speed load moment is changed greatly.
• Mechanical gas is very large.
If the condition meets one of the above cases or the desired operation cannot be achieved by the online autotuning,
set the value in Pn106 (Load inertia percentage) and performthe adjustment manually.
4.9.2 Online Autotuning Procedure
￭Do not perform extreme adjustment or setting changes causing unstable servo operation.Failure to observe
this warning may result in injury and damages to the machine.
￭ Adjust the gains slowly while confirming motor operation.
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