9.2 Online Autotuning
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9.2 Online Autotuning
9.2.1 Online Autotuning
Online autotuning calculates the load moment of inertia during operation of the SERVOPACK and sets parame-
ters so that the servo gains consistent with the Machine Rigidity (Fn001) are achieved.
Online autotuning may not be effective in the following cases.
• The load moment of inertia varies in less than 200 ms.
• The motor speed is lower than 100 min
-1
or the acceleration reference is very even.
• Load rigidity is low and mechanical vibration occurs easily or friction is high.
• The speed reference is a stepwise reference.
If the condition meets one of the above cases or the desired operation cannot be achieved by the online autotun-
ing, calculate the load moment of inertia on the basis of the machine specifications or using the moment of inertia
detection function of Yaskawa’s servodrive supporting tool “SigmaWin200”. Set the value in Pn103 and perform
the adjustment manually.
The following utility function is also available for the online autotuning.
Fn007: Writes the load moment of inertia calculated by the online autotuning in Pn103 and uses as the default
value for the next calculation.
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