Fuji Electric ALPHA5 Smart, User Manual

Page: 187 / 636

CHAPTER 4 PARAMETER
Basic Parameters
4-19
4
 Setting method
(1) Parameter entry with PC Loader and keypad (parameter setting mode)
After the parameter is established, the setting is updated.
(2) Entry using "auto tuning gain setting (Fn11)" of keypad (test operation mode)
After the value is switched, the setting is updated at real time.
Approximate reference value
Mechanical configuration
(division by mechanism)
Auto tuning gain 1
(approximate reference value)
Large transfer machine 1 to 10
Arm robot 5 to 20
Belt mechanism 10 to 25
Ball screw + Belt mechanism 15 to 30
Mechanism directly coupled with
ball screw
20 to 40

For details of tuning, refer to "CHAPTER 5 SERVO ADJUSTMENT."
PA1_16 Auto tuning gain 2
No. Name Setting range
Default
value
Change
16 Auto tuning gain 2 1 to 12 4 Always
This parameter is enabled only under position control.
The parameter is enabled if PA1_13 (tuning mode selection) is 10 (auto tuning), 11 (semi-auto tuning)
or 15(Shorter cycle time operation mode).
Adjust PA1_15(Auto tuning gain 1) before adjusting this parameter.
With this parameter, the positioning and settling time of auto tuning and semi-auto tuning is reduced, so
that the cycle time is effectively reduced. While a larger value reduces the positioning and settling time,
an overshoot is likely to be caused.
PA1_51 (moving average S-curve time) and PA1_54 (position command response time constant) are
automatically adjusted in relation to the reference value of this parameter.