Fuji Electric ALPHA5 Smart, User Manual

Page: 184 / 636

CHAPTER 4 PARAMETER
4-16
Basic Parameters
4
The gain is automatically adjusted to the best one in relation to the setting of PA1_15 (auto tuning
gain 1), PA1_16 (auto tuning gain 2), and PA1_14 (load inertia ratio).
 Manual tuning
Use this mode if auto tuning and semi-auto tuning modes do not function satisfactorily. Manually
enter the ratio of moment of inertia of the load and various gains.
 Interpolation operation mode
Use this mode to adjust responses of each shaft to the command during interpolation of two or
more servomotor axes of an X-Y table or similar.
In this mode, PA1_51 (moving average S-curve time) and PA1_54 (position command response
time constant) that determine the following characteristics to commands must be entered
manually.
As well, PA1_14 (load inertia ratio) must be entered, too, manually.
The other gain adjustment parameters are automatically entered according to the value of PA1_15
(auto tuning gain 1).
 Trace operation mode
Use this mode to adjust responses of each shaft to the command during trace control of two or
more servomotor axes of an X-Y table or similar.
In this mode, PA1_14 (load inertia ratio) and PA1_51 (moving average S-curve time) must be
entered manually. The parameter PA1_95 is set to "0" (model torque calculation is disabled/speed
observer is disabled). PA_54 (position command response time constant) is enabled only when
PA_1_58 (feed forward gain 1) is set to other than 0.000.
As well, PA1_14 (load inertia ratio) must be entered, too, manually.
The other gain adjustment parameters are automatically entered according to the value of PA1_15
(auto tuning gain 1).
 Shorter cycle time operation mode
Use this mode to improve tact (reduce the settling time) on a machine with high rigidity such as a
ball screw.
PA1_14 (load inertia ratio) must be entered manually.
The other gain adjustment parameters are automatically entered according to the values of
PA1_15 (auto tuning gain 1) and PA1_16 (auto tuning gain 2).