9 Adjustments
9.2.6 Saving the Results of Online Autotuning
9-10
9.2.6 Saving the Results of Online Autotuning
For online autotuning, the most recent load moment of inertia is calculated and the control parameters are
adjusted to achieve response suitable for the machine rigidity setting. When online autotuning is performed, the
Position Loop Gain (Pn102), Speed Loop Gain (Pn100), and Speed Loop Integral Time Constant (Pn101) are
saved. When the power supply to the SERVOPACK is turned OFF, however, the calculated load moment of iner-
tia is lost and the factory setting is used as the default value to start autotuning the next time the power supply is
turned ON.
To use the calculated load moment of inertia as the default value the next time the power supply is turned ON, the
utility function mode parameter Fn007 (Writing to EEPROM moment of inertia ratio data obtained from online
autotuning) can be used to save the most recent value in parameter Pn103 (Moment of Inertia Ratio). The
moment of inertia ratio is given as the moment of inertia ratio (%) of the rotor moment of inertia of the servomo-
tor.
• Always set the correct moment of inertia ratio when online autotuning is not used.
If the moment of inertia ratio is set incorrectly, vibration may occur.
CAUTION
Pn103 Moment of Inertia Ratio
Setting Range Setting Unit Factory Setting Setting Validation
0 to 10,000 % 0 Immediately
The factory setting for the moment of inertia ratio is 0% (no-load operation of motor without connecting a machine).
Speed
Position
Torque
Moment of inertia ratio =
Roter moment of inertia (J )
Motor axis conversion load moment of inertia (J )
M
L
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