Online Autotuning - YASKAWA MECHATROLINK Sigma 2 Series User Manual

C.1.1 Online Autotuning
Online autotuning is a control function which enables the SERVOPACK to check changes in
the load moment of inertia during operation in order to maintain the target value for speed
loop gain or position loop gain.
Online autotuning may not work well in the following cases.
• When the cycle for load moment of inertia change is 200 ms or shorter (when the load
changes rapidly).
• When the application has slow acceleration or deceleration using the soft start function,
and the speed error of the servomotor being driven is small.
• When adjusting the servo gain manually and operating at low gain (a machine rigidity of
1 or less).
Disable the online autotuning function and adjust the gain manually if tuning is not possible.
Refer to 9.3 Manual Tuning of the Σ-
(SIEPS80000005).
Do not use online autotuning in the following cases.
IMPORTANT
• When using IP control for the speed loop.
• When using the torque feed-forward function.
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Series SGM H/SGDH User's Manual
C-3
C.1 Autotuning
C