Inovance SV660N - Page 30

STEP 2 - Load inertia ratio setting
Please, refer to the section 6.6.1 Inertia Auto-tuning
STEP 3 - Rigidity Setting
The value range of H09-01 (Stiffness level selection) is 0 to 41. The level 0 indicates the weakest stiffness and
lowest gain and level 41 indicates the strongest stiffness and highest gain.
Please, refer to the section 6.6.5 Rigidity level calculation
Recommended Stiffness Level
Type of Load Mechanism
Level 4 to level 8
Large-scale machineries
Level 8 to level 15
Applications with low stiffness such as a conveyor
Level 15 to level 20
Applications with high stiffness such as a ball screw and direct-
coupled motor
Vibration suppression control
Vibration: Parameter H09-11-Vibration threshold. When the torque ripple detected by the servo drive exceeds
the setpoint of H09-11 and becomes uncontrollable, the stiffness level will be reduced automatically until
reaching level 10 where ER661 is reported.
Vibration suppression switch:
Parameter H09-37 - Vibration monitoring time
• Open →H09-37 = 65536
• Close →H09-37 = 0
• Default (10 minutes) →H09-37 = 600
If H09-00 (Gain auto-tuning mode) is set to 3, 4, or 6, the servo drive suppresses vibration by performing inertia
auto-tuning automatically within 10 min (or other time interval defined by H09-37) after power-on or stiffness
level setting, and then it exits from inertia auto-tuning. The inertia auto-tuning function, once deactivated,
cannot be activated again by setting H09-09 to 3, 4, or 6.