8 Adjustments
8.3.2 Advanced Autotuning Procedure
8-22
• The mode switch is used.
Note:If a setting is made for calculating the moment of inertia, the mode switch function will be disabled while the
moment of inertia is being calculated. At that time, PI control will be used. The mode switch function will be
enabled after calculating the moment of inertia.
• Speed feedforward or torque feedforward is input.
• The positioning completed width (PnACC) is too narrow.
Change only the overshoot detection level (Pn561) to finely adjust the amount of overshooting without chang-
ing the positioning completed width (PnACC). Because Pn561 is set by default to 100%, the allowable
amount of overshooting is the same amount as that for the positioning completed width.
When Pn561 is set to 0%, the amount of overshooting can be adjusted to prevent overshooting the positioning
completed width. If the setting of Pn561 is changed, however, the positioning time may be extended.
8.3.2
Advanced Autotuning Procedure
The following procedure is used for advanced autotuning.
(1) Moment of Inertia (Mass) Identification Procedure
Use the following procedure to set the moment of inertia.
• Advanced autotuning makes adjustments by referring to the positioning completed
width (PnACC). If the SERVOPACK is operated in position control, set the electronic
gear ratio (PnA42/PnA44) and positioning completed width (PnACC) to the actual val-
ues during operation. If the SERVOPACK is operated in speed control, set the mode
selection to 1 to perform advanced autotuning.
Pn561
Overshoot Detection Level
Classification
Setting Range
Setting Unit
When Enabled
When Enabled
0 to 100
1%
100
Setup
Setup
Speed
Position
Torque
CAUTION
• When using the SERVOPACK without calculating the load moment of inertia, be sure to set a suitable
value for the moment of inertia ratio (Pn103). If the setting greatly differs from the actual moment of inertia
ratio, normal control of the SERVOPACK may not be possible, and vibration may result.
• If you use phase control with an MP2000-series Controller, set the mode selection to 1. If the mode selec-
tion is set to 2 or 3, correct phase control may not be possible.
CAUTION
Advanced autotuning involves motor operation, and it is therefore hazardous.
Refer to the S Operation Manual before performing autotuning without reference input.
Be particularly careful of the following point.
• Ensure safety near all moving parts.
Vibration may occur during autotuning. Provide an emergency stop means to shut OFF the power supply during
implementation. The motor will move in both directions within the movement range. Check the movement range
and direction, and provide overtravel prevention means and other safety measures as required.
CAUTION
Two methods are available to stop advanced autotuning while the motor is running, and the motor will stop according
to the method selected. Make sure to select the best method for the situation.
• If the SERVO OFF button is used, the motor will stop according to the stopping method after servo off specified
by the parameters.
• If the CANCEL button is used, the motor will decelerate to a stop and then enter a zero clamp state.
Note: The CANCEL button may be invalid in some SERVOPACKs.
