Fuji Electric ALPHA5 Smart, User Manual

Page: 288 / 636

CHAPTER 5 SERVO ADJUSTMENT
5-12
Auto Tuning Application
5
5.4 Auto Tuning Application
If the results of "auto tuning" are not satisfactory, perform adjustment according to "auto tuning
application." In this mode, manually enter the second gain, notch filter and other particulars.
Conditions for adjustment are the same as those of auto tuning.
5.4.1 Parameters Used for Auto Tuning Application
Parameters used for auto tuning application adjustment are shown in the table below.
No. Name Approximate reference value
PA1_13 Tuning mode selection 10: Auto tuning 11: Semi-auto tuning
PA1_14 Load inertia ratio
No need to enter
(automatically updated) Enter a stable estimated
value (or average value).
PA1_15 Auto tuning gain 1
Refer to "5.3.3 Approximate Reference Value of
Auto Tuning Gain 1" for adjustment.
PA1_16 Auto tuning gain 2 Enter when necessary.
PA1_59
Torque filter time constant for
position and speed control Increase in increments of 0.5 ms, starting at the
current setting.
PA1_64 Position loop gain 2 70
PA1_65 Speed loop gain 2 70
PA1_66
Speed loop integration time
constant 2
70
PA1_70 Automatic notch filter selection Select 0 (disable).
PA1_71 Notch filter 1, frequency
PA1_72 Notch filter 1, attenuation
PA1_73 Notch filter 1, width
Use the servo analyze function of the PC Loader
for adjustment.
PA1_94 Torque filter setting mode Select 0 (Not set automatically).
During auto tuning application adjustment, based on the adjustment in auto tuning, potential
manually settling parameters will be manually adjusted.