C.1 Autotuning
C-7
C
C.1.3 Saving Results of Online Autotuning
Online autotuning always processes the latest load moment of inertia to renew data so that
the speed loop gain will reach the target value that has been set. When the SERVOPACK is
turned OFF, all the processed data is lost. Therefore, when the SERVOPACK is turned ON
again, online autotuning is performed by processing the factory-set values in the
SERVOPACK.
To save the results of online autotuning and use them as the initial values set in the
SERVOPACK when the SERVOPACK is turned ON again, it is necessary to save them
according to the procedures for saving the results of online autotuning. In this case, the
moment of inertia ratio set in parameter Pn103 can be changed.
On the basis of the rotor moment of inertia of the servomotor, the inertia ratio is expressed in
percentage terms by the load moment of inertia. The value set in Pn103 is used to calculate
the load moment of inertia at the time of online autotuning.
The moment of inertia ratio is factory-set to 0%.
Before making servo gain adjustments manually, be sure to set the inertia ratio in Pn103. If the moment
of inertia ratio is incorrect, the speed loop gain (unit: Hz) set in Pn100 will be wrong.
Procedure for Saving Results of Online Autotuning
The Adjusting command (ADJ: 3EH) is used to save the results of online autotuning.
The procedure for saving results is shown below.
It is also possible to use a Digital Operator to save settings. Refer to the
Σ
-
ΙΙ
Series SGM
H/SGDH
User’s Manual (SIEPS80000005)
.
1. By setting byte 1 of the MECHATROLINK-II command field to ADJ (3EH) and byte 2
to 00H, the following command field can be set.
Pn103
Moment of Inertia
Ratio
Unit:
%
Setting
Range:
0 to 10000
Factory
Setting:
0
Position Control
Command
Response
5
CCMD
CANS
CCMD: Command
CANS: Answer
CADDRESS: Setting/reference address
CDATA: Setting/reference data
6
CADDRESS CADDRESS
7
8
CDATA
CDATA
9
Moment
of
inertia ratio
=
Motor axis conver sion load
moment
of inertia (J
L
)
Servomotor rotor
moment
of inertia (J
M
)
×
IMPORTANT
INFO