5-63
5-16 User Parameters
5
Operating Functions
• Use this parameter to set the load inertia as a percentage of the Servomotor rotor inertia.
• Pn20 = (Load inertia ÷ Rotor inertia) × 100%
• When normal mode autotuning is executed, the load inertia will be automatically estimated after
the specified operation, and this parameter will be updated with the result.
• When realtime autotuning is enabled, the inertia ratio is continuously estimated and saved in
EEPROM every 30 min.
• If the inertia ratio is set correctly, the setting unit for the Speed Loop Gain (Pn11) and Speed Loop
Gain 2 (Pn19) will be Hz.
• If the Inertia Ratio (Pn20) is set larger than the actual value, the setting for speed loop gain will
increase. If the inertia ratio is set smaller than the actual value, the setting for speed loop gain will
decrease.
Explanation of Settings
• Use this parameter to set the operating mode for realtime autotuning.
• The higher the value that is set (e.g., 3 or 6), the faster the response is for a change in inertia during
operation. Operation, however, may be unstable depending on the operating pattern. Normally,
set the parameter to 1 or 4.
• Use a setting of 4 to 6 if a vertical axis is used.
• Use setting 7 if vibration is caused by gain switching.
• Use this parameter to set the machine rigidity to one of 16 levels when realtime autotuning is
enabled.
• If the setting is changed suddenly by a large amount, the gain will change rapidly, subjecting the
machine to shock. Always start by making small changes in the setting, and gradually increase the
setting while monitoring machine operation.
Pn20
Inertia Ratio
Setting range 0 to 10000 Unit % Default setting 300
Power OFF→ON
---
Pn21
Realtime Autotuning Mode Selection
Setting range 0 to 7 Unit --- Default setting 0
Power OFF→ON
---
Setting Explanation
0 Realtime autotuning is disabled.
1 Normal mode: There is almost no change.
2 Normal mode: There are gradual changes.
3 Normal mode: There are sudden changes.
4
Vertical axis mode: There is almost no change.
5
Vertical axis mode: There are gradual changes.
6
Vertical axis mode: There are sudden changes.
7
No gain switching: There is almost no change.
Pn22
Realtime Autotuning Machine Rigidity Selection
Setting range 0 to F Unit --- Default setting 2
Power OFF→ON
---
Low
Low
Low
High
High
High
0·1 - - - - - - - - - - - - - - - E·FPn22
Responsiveness
Servo gain
Machine rigidity
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