Procedure For Calculating The Moment Of Inertia - YASKAWA Sigma-V Series User Manual

(2) When Advanced Autotuning Cannot Be Performed
Advanced autotuning cannot be performed normally under the following conditions. Make adjustments using
one-parameter tuning (Fn203).
• The machine system can work only in a single direction.
• The operating range is within 0.5 rotation.
(3) When Advanced Autotuning Cannot Be Performed Successfully
The moment of inertia cannot be calculated in the following cases. Make adjustments using one-parameter
tuning (Fn203).
• The operating range is not applicable.
• The moment of inertia changes within the set operating range.
• The machine has high friction.
• The rigidity of the machine is low and vibration occurs when positioning is performed.
• The position integration function is used.
• P control operation (proportional control) is used.
Note:If a setting is made for calculating the moment of inertia, an error will result when P control operation is selected
using /V_PPI of OPTION field while the moment of inertia is being calculated.
• The mode switch is used.
Note:During moment of inertia calculation, switching the mode is disabled and PI control is used. The mode switch func-
tion will be enabled after the moment of inertia is calculated
• Speed feedforward or torque feedforward is input.

5.2.2 Procedure for Calculating the Moment of Inertia

The procedure to calculate the moment of inertia is given below.
Moment of inertia calculation is performed from the digital operator (optional) or SigmaWin+.
The procedure from the digital operator is described here.
During execution, you cannot change Pn103 (Moment of Inertia Ratio) from the SigmaWin+ or by any other
means.
5.2 Advanced Autotuning (Fn201)
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