Summa Series Servodrive Product Manual
Tuning
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
9-7
Tuning based on a proper load inertia percentage can get a better servo performance.
The setting of Servo Rigidity can be applied to more operating conditions.
Applicated Case
Applied for that more than 50 times the load moment of inertia.
Applied for any rotation speed.
Relevant Parameters
Parameter Setting Meaning
When Enabled Classification
Pn100.0
3
Set the
Tuning Mode
as
One-
Parameter Auto-Tuning
.
After restart
Function
Pn100.3
0
Set the damping method in
One-
Parameter Auto-Tuning
as
Standard
.
1
Set the damping method in
One-
Parameter Auto-Tuning
as
Stable
.
Pn101
－
Servo Rigidity
Immediately
Adjustment
Pn106
－
Load Inertia Percentage
Immediately
Adjustment
Application Restrictions
The following functions or applications are not available in One-Parameter Auto-Tuning function:
Gain switch is disabled.
Model Following Control Function is disabled.
9.2.3
Manual Tuning
Function Description
In the Manual Tuning, you need to manually adjust the gain parameters without using the autotune
parameter adjustment module, until the Servo get the desired performance. Figure 9-6 shows the block
diagram in Manual Tuning.
Figure 9-6
Block diagram in Manual Tuning.
Drive
Position loop
Speed loop
Torque loop
M
Current
Encoder
Motor
Speed
Position
Host
Controller
Servo gain parameters
Adjust parameter manually
Position
reference
