Fuji Electric ALPHA7, User Manual

Page: 209 / 662

CHAPTER 4 PARAMETER
4-18
Basic Parameters
4
PA1_13 Tuning mode selection
No. Name Setting range
Default
value
Change
13 Tuning mode selection
0: Auto tuning
1: Semi-auto tuning
2: Manual tuning
3: Interpolation control mode
0 Always
Select the tuning method of the servo amplifier. Refer to the following description to select the mode.
 Auto tuning (default value)
In this mode, the ratio of moment of inertia of the load of the machine is always assumed inside the
amplifier and the gain is automatically adjusted to the best one. "0" is entered, too, in case of easy
tuning.

Semi-auto tuning
Use this mode if the load inertia ratio of the machine has relatively large fluctuation or the load
inertia ratio is not estimated correctly inside the amplifier.
The gain is automatically adjusted to the best one in relation to the setting of 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 load inertia ratio and various gains.
 Interpolation control 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.