IS620P User Manual Chapter 4 Running and Commissioning
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4.5.1 Inertia Auto-tuning
Before performing automatic or manual gain adjustment, perform inertia auto-tuning to obtain
the actual load inertia ratio. The following gure is the inertia auto-tuning owchart.
Figure 4-17 Inertia auto-tuning owchart
Yes
Hold down the UP key, and the motor rotates in
the forward and then reverse directions
repeatedly. After you release the key, the motor
coasts to stop. It is similar when you hold down
the DOWN key.
The keypad displays the obtained inertia ratio.
Enter H0D-02, and the keypad displays the
inertia ratio set in H08-15.
Preset the inertia ratio in H08-15.
Reduce the maximum speed for inertia
auto-tuning (H09-06).
No
Is long-travel running
supported?
Set H09-05 to 1.
Increase the inertia ratio in H08-15.
Hold down the SET key until the keypad
displays "SAVE", and then the obtained inertia
ratio is written to H08-15. Then, release the key
and exit H0D-02.
The inertia auto-tuning may not be
supported. Manually set the inertia
ratio or contact Inovance.
Increase the value of H09-06 properly (the
larger the value, the more accurate the
auto-tuning result)
End
No
No
No
No
Yes
Yes
Yes
Yes
Yes
No
After the wiring and basic setting are complete, the servo
drive enters the "rdy" state.
Note: To prevent accidents due to overtravel during inertia
auto-tuning, install the limit switches on the mechanical side
and ensure that the movable travel of at least one revolution
on the forward and reverse directions is allowed for the motor.
Is preset inertia ratio smaller
than 10?
Does the
actual motor movable travel
satisfy the setting of H09-09?
Does the displayed inertia
ratio change?
Does the displayed
inertia ratio become stable after
repeated operations?
Can the
maximum speed for inertia auto-
tuning (H09-06) be increased
onsite?
Yes
No
•
When H08-15 = 1 (default value), the actual speed may not reach the reference due to too
small inertia ratio, and the auto-tuning will fail. In this case, you need to re-set H08-15. It is
recommended that H08-15 be set to 5 initially and then be increased gradually so that the
auto-tuning can be performed successfully.
•
For ofine inertia auto-tuning, the triangular wave mode is suggested. For scenarios with
poor auto-tuning effect, the step rectangular wave mode is suggested.
•
When H09-05 = 1, pay attention to the mechanical travel and prevent accidents due to
overtravel during ofine inertia auto-tuning.
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