Higen FDA7000 Series, Operation Manual

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5. Servo operating
4-18
♥ For the speed limit of torque servo, 4 speed limit values are applied according to the contact
point of SPD1 and SPD2 when the SPDLIM contact point is ON and the speed limit of P02-05
and P02-06 are applied when the SPDLIM contact point is OFF.
4.4. Auto-tuning
For the Auto-tuning applied to FDA7000 series, the servo drive estimates the inertia of the load
attached to the servo motor during operation and has the function of adjusting the speed control
gain and position control gain.
4.4.1. System response setting
The system response is set (P02-18) manually before using Auto-tuning. The following P05-05,
P05-06, P03-05, P03-06, P03-07, P03-08 and P02-16 automatically changes and when the Auto-
tuning function is set to “ON”, the tuning operation is executed with the target of manually set
value.
P02-18
(System
response
setting)
P05-05
(Position
loop gain 1)
P05-06
(Position
loop gain 2)
P03-05
(Speed
control loop
gain 1)
P03-06
(SC TC 1)
P03-07
(Speed
control loop
gain 2)
P03-08
(SC TC 2)
P02-16
(Command
torque filter
TC)
1 2.0 5.0 2.0 200.0 5.0 120.0 4.5
2 5.0 10.0 5.0 120.0 10.0 80.0 3.5
3 10.0 15.0 10.0 80.0 15.0 60.0 3.0
4 15.0 20.0 15.0 60.0 20.0 45.0 2.5
5 20.0 25.0 20.0 45.0 25.0 40.0 2.0
6 25.0 30.0 25.0 40.0 30.0 30.0 1.5
7 30.0 35.0 30.0 30.0 35.0 25.0 1.3
8 35.0 45.0 35.0 25.0 45.0 18.0 1.2
9 45.0 55.0 45.0 18.0 55.0 17.0 0.9
10 55.0 70.0 55.0 17.0 70.0 13.0 0.8
11 70.0 85.0 70.0 13.0 85.0 11.0 0.6
12 85.0 105.0 85.0 11.0 105.0 10.0 0.5
13 105.0 130.0 105.0 10.0 130.0 8.0 0.4
14 130.0 160.0 130.0 8.0 160.0 6.0 0.25
15 160.0 200.0 160.0 6.0 200.0 5.4 0.2
16 200.0 240.0 200.0 5.4 240.0 5.0 0.15
17 240.0 300.0 240.0 5.0 300.0 3.5 0.1
18 300.0 350.0 300.0 3.5 350.0 3.2 0.0
19 350.0 360.0 350.0 3.2 360.0 3.1 0.0