9.2 Online Autotuning
9-5
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 servo drive supporting tool “SigmaWin+
1
.” 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.
1
SigmaWin+
SigmaWin+ is a Windows-compatible software tool used to set up and tune Yaskawa servo drives. SigmaWin+ can be
downloaded from the e-mechatronics site (http://www.e-mechatronics.com/en).
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