Sigma-II Series SGM*H/SGDH USER'S MANUAL - Esco Drives ...

9 Adjustments9.2.6 Saving the Results of Online Autotuning9.2.6 Saving the Results of Online AutotuningCAUTION• Always set the correct moment of inertia ratio when online autotuning is not used.If the moment of inertia ratio is set incorrectly, vibration may occur.For online autotuning, the most recent load moment of inertia is calculated and the control parameters areadjusted to achieve response suitable for the machine rigidity setting. When online autotuning is performed, thePosition Loop Gain (Pn102), Speed Loop Gain (Pn100), and Speed Loop Integral Time Constant (Pn101) aresaved. When the power supply to the SERVOPACK is turned OFF, however, the calculated load moment of inertiais lost and the factory setting is used as the default value to start autotuning the next time the power supply isturned ON.To use the calculated load moment of inertia as the default value the next time the power supply is turned ON, theutility function mode parameter Fn007 (Writing to EEPROM moment of inertia ratio data obtained from onlineautotuning) can be used to save the most recent value in parameter Pn103 (Moment of Inertia Ratio). Themoment of inertia ratio is given as the moment of inertia ratio (%) of the rotor moment of inertia of the servomotor.Pn103Moment of Inertia RatioSpeed Position TorqueSetting Range Setting Unit Factory Setting Setting Validation0 to 10,000 % 0 ImmediatelyMotor axis conversion load moment of inertia (J L)Moment of inertia ratio =Roter moment of inertia (J M)The factory setting for the moment of inertia ratio is 0% (no-load operation of motor without connecting a machine).9-10