- App. 39 -
Appendixes
PrNo. Parameter
Value
Unit Function
• You can set-up the ratio of load inertia to the
motor's rotor inertia.
• The load inertia can be estimated by executing the auto
gain tuning, and this result will be reflected in this
parameter.
If Pr20 (inertia ratio) is set correctly, the unit of the val-
ues of Pr11 and Pr19 becomes Hz. If the value of Pr20
is larger than the actual load inertia, the unit of the value
of these parameters becomes larger. If the value of Pr20
is smaller than the actual load inertia, the unit of the
value of these parameters becomes smaller.
• You can define the operating mode of the real
time auto tuning.
•
With a larger value of Pr21, a quicker response to the change in load
inertia can be obtained, though the operation may become unstable
depending on the operating pattern. In normal cases, the value of this
parameter should be 1 or 2.
•
You can set-up the machine stiffness (from 10 options) that is
used at the real time auto gain tuning.
•
Large impact shock might be given to the machine, when you
suddenly set this parameter to a larger value. Start from the
smaller value while monitoring the machine movement.
20
21
22
Inertia ratio
Real time
auto tuning
set-up
Machine
stiffness at
auto tuning
0 ~
10000
0 ~ 3
[0]
0 ~ 9
[2]
%
––
––
Pr20 =(Load inertia)/(Rotor inertia) x100%
Low
Machine stiffness
High
Low Servo gain High
Low Response High
Pr22 0 • 1- - - - - - - - - - - - - 8 • 9
Parameters for real time gain tuning
Value
0
1
2
3
Real time auto tuning
Not used
Used
Fluctuation of load inertia during operation
––––
Rarely fluctuates
Fluctuates slowly
Fluctuates quickly
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