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C.1.4 Parameters Related to Online Autotuning
This section provides information on a variety of parameters related to online autotuning.
Online Autotuning Method
The following parameter is used to set the autotuning conditions.
Pn110.0
Pn110.0 Setting
This parameter is factory-set to "0." If the load moment of inertia change is minimal or if the
application makes few changes, there is no need to continue calculating the moment of iner-
tia while the system is in operation. Instead, continue to use the value that was calculated
when the system was first started up.
Set this parameter to "1" if the load moment of inertia always fluctuates due to the load con-
ditions. Then the response characteristics can be kept stable by continuously refreshing the
moment of inertia calculation data and reflecting them in the servo gain.
If the load moment of inertia fluctuation results within 200 ms, the moment of inertia calcu-
lation data may not be refreshed properly. If that happens, set Pn110.0 to "0" or "2."
Set Pn110.0 to "2" if autotuning is not available or if the online autotuning function is not
used because the load moment of inertia is already known and the SERVOPACK is manu-
ally adjusted by setting the moment of inertia ratio data in Pn103.
Speed Feedback Compensation Selection
Use the following parameter to enable or disable speed feedback compensation during
autotuning. Refer to 9.4.8 Speed Feedback Compensation of the Σ-
User's Manual (SIEPS80000005).
This parameter can be left as it is if online autotuning is performed. If this parameter is set
manually, however, the setting is reflected to the operational setting made during online
autotuning.
Pn110.1
Pn110.1 Setting
0
1
Online Autotuning Method
0
Autotuning is performed only when the system runs for the first time after
the power is turned ON. After the load moment of inertia is calculated,
the calculated data is not refreshed.
1
Autotuning is continuously performed (moment of inertia value calcula-
tion).
2
The online autotuning function is not used.
Speed Feedback Compensation
Selection
Enabled
Disabled
C-9
C.1 Autotuning
Factory Setting:
Position Control
0
Description
ΙΙ
Series SGM H/SGDH
Factory Setting:
Position Control
1
Description
C
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