8.6 Autotuning without Host Reference
8.6.5 Automatically Adjusted Function Setting
8-30
When an Error Occurs during Calculation of Moment of Inertia
Adjustment Results Are Not Satisfactory for Position Control
You may be able to improve the adjustment results by changing the settings of the positioning
completion width (Pn522) and the electronic gear ratio (Pn20E/Pn210).
If satisfactory results are still not possible, adjust the overshoot detection level (Pn561). That
may improve the adjustment results.
•
Pn561 = 100% (default setting)
This will allow tuning with overshooting that is equivalent to the positioning completion width.
•
Pn561 = 0%
This will allow tuning to be performed without overshooting within the positioning completion
width, but the positioning completed width may be extended.
8.6.5
Automatically Adjusted Function Setting
You can specify whether to automatically adjust the following functions during autotuning.
Automatic Notch Filters
Normally, set Pn460 to n.
1
(Adjust automatically) (default setting).
Vibration will be detected during autotuning without a host reference and a notch filter will be
adjusted.
Set Pn460 to n.
0
(Do not adjust automatically) only if you do not change the setting of the
notch filter before you execute this function.
Positioning was not com-
pleted within approximately
10 seconds after position
adjustment was completed.
The positioning com-
pletion width is too nar-
row or proportional
control (P control) is
being used.
•
Increase the setting of the positioning completion
width (Pn522).
•
Set the Speed Loop P/PI Switch Bit (OW
01 Bit
3) to 0.
Cause
Corrective Action
The SERVOPACK started calculating the
moment of inertia but the calculation was
not completed.
•
Increase the setting of the speed loop gain (Pn100).
•
Increase the stroke (travel distance).
The moment of inertia fluctuated greatly
and did not converge within 10 tries.
Set Pn103 (Moment of Inertia Ratio) from the machine specifica-
tions and specify not estimating the moment of inertia.
Low-frequency vibration was detected.
Double the setting of moment of inertia calculation starting level
(Pn324).
The torque limit was reached.
•
If you are using the torque limit, increase the torque limit.
•
Double the setting of moment of inertia calculation starting
level (Pn324).
The speed control section was changed
to proportional control during calculation
of the moment of inertia, e.g., the Speed
Loop P/PI Switch Bit (OW
01 Bit 3)
was set to 1.
Use PI control when calculating the moment of inertia.
Pn561
Overshoot Detection Level
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
0 to 100
1%
100
Immediately
Setup
Continued from previous page.
Error Description
Cause
Corrective Action
S
peed
Po
s
ition
Torque
