7-3
7-2 Realtime Autotuning
7
Adjustment Functions
7-2 Realtime Autotuning
Realtime autotuning estimates the load inertia of the machine in realtime, and automatically sets the
optimal gain according to the estimated load inertia. The adaptive filter automatically suppresses
vibration caused by resonance. In the default settings realtime autotuning is disabled. Refer to the
following procedures to enable realtime autotuning.
Realtime Autotuning Setting Method
1. Stopping the Servomotor
Turn OFF the RUN Command Input (RUN) to the Servomotor. The Servomotor will stop.
2. Realtime Autotuning Mode Selection (Pn21)
Pn21 Setting
When the degree of load inertia change is high, set the value to 3 or 6.
Enable the adaptive filter if the load inertia change is affected by resonance.
3. Normal Operation
Turn ON the RUN Command Input (RUN) and run the machine as usual.
Realtime autotuning may not function properly under the conditions
described in the following table. If realtime autotuning does not function
properly, use autotuning or manual tuning.
Precautions
for Correct Use
Conditions under which realtime autotuning does not function properly
Load inertia
If the load inertia is less than 3 times the rotor inertia.
If the load inertia is more than 20 times the rotor inertia.
If the load inertia changes quickly, i.e., in less than 10 seconds.
Load
If the machine rigidity is extremely low.
If there is backlash or play in the system.
If the static friction torque is greater than the dynamic friction torque.
Operating
pattern
If the Servomotor is continuously run at a low speed below 100 r/min.
If the acceleration/deceleration is gradual at less than 2000 r/min in 1 s.
For abrupt operations, e.g., if the speed or acceleration condition is met in less
than 40 ms.
If the acceleration/deceleration torque is unbalanced and smaller compared to the
viscous friction torque.
Setting
Realtime Autotuning
Degree of change in load inertia
during operation
Adaptive filter
0
Not used
---
Disabled
1
Used
Almost no change in load inertia
Enabled
(Pn02 = 2)
2
Gradual changes in load inertia
3
Sudden changes in load inertia
4
Almost no change in load inertia
Disabled
5
Gradual changes in load inertia
6
Sudden changes in load inertia
7
Not used
---
Enabled
(Pn02 = 2)
