Fuji Electric ALPHA7, User Manual

Page: 212 / 662

CHAPTER 4 PARAMETER
Basic Parameters
4-21
4
PA1_16 Auto tuning gain 2
No. Name Setting range
Default
value
Change
16 Auto tuning gain 2 1 to 12 (in increments of 1) 4 Always
This parameter is enabled only under position control.
The parameter is enabled if PA1_13 (tuning mode selection) is 0 (auto tuning) or 1 (semi-auto tuning).
This parameter adjusts the command response. Adjust auto tuning gain 1 before adjusting this
parameter.
With this parameter, the positioning 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 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.
What is positioning settling time
Time from completion of issuance of command frequency to issuance of in-position signal
The time varies according to various conditions such as the frequency matching the traveling
distance, acceleration/deceleration rate, and stopping accuracy. Adjustment of the entire system
including the host and servo to optimum conditions is necessary to reduce the positioning settling
time.
OFF
Frequency
[kHz]
Command
frequency
Motor speed
Settling
time
Time
Time
OFF
ON
In-position signal
Time
Rotation speed
[r/min]

For details of tuning, refer to "CHAPTER 5 SERVO ADJUSTMENT."