Saving The Results Of Online Autotuning - YASKAWA SGLFW User Manual

10 Adjustments

10.2.6 Saving the Results of Online Autotuning

10.2.6 Saving the Results of Online Autotuning
• Always set the correct mass ratio when online autotuning is not used.
If the mass ratio is set incorrectly, vibration may occur.
For online autotuning, the most recent load mass is calculated and the control parameters are adjusted to achieve
response suitable for the machine rigidity setting. When online autotuning is performed, the Position Loop Gain
(Pn102), Speed Loop Gain (Pn100), and Speed Loop Integral Time Constant (Pn101) are saved. When the power
supply to the SERVOPACK is turned OFF, however, the calculated load mass is lost and the factory setting is
used as the default value to start autotuning the next time the power supply is turned ON.
To use the calculated load mass as the default value the next time the power supply is turned ON, the utility func-
tion mode parameter Fn007 (Writing to EEPROM mass ratio data obtained from online autotuning) can be used
to save the most recent value in parameter Pn103 (Mass Ratio). The mass ratio is given as the mass ratio (%) of
the coil assembly mass of the linear servomotor.
Pn103 Mass Ratio
Mass ratio=
The factory setting for the mass ratio is 0% (no-load operation of linear servomotor without connecting a machine).
* The setting range for the software version 32 or later.
10-10
Setting Range
0 to 10,000
(0 to 20,000)*
Load mass (M ) (includes coil assembly)
L
Linear servomotor coil assembly mass (M
CAUTION
Setting Unit Factory Setting
1%
− 1 × 100 (%)
)
M
Speed Position
Setting Validation
0 Immediately
Force