NSK M-EGA-15A2301, User Manual

Page: 96 / 237

5.Operation Group 0 Auto-tuning settings
5-31
ID Contents
01
Auto-Tuning Characteristic
[ATCHA]
Setting range Unit Standard value
00 to 06 - 00:Positioning1
■
Sets the Auto-Tuning Characteristic best fits to the system.
Selection Contents
00 Positioning1 Positioning Control 1 (General Purpose)
01 Positioning2 Positioning Control 2 (High Response)
02 Positioning3 Positioning Control 3 (High Response, FFGN Manual Setting)
03 Positioning4 Positioning Control 4 (High Response, Horizontal Axis Limited)
04 Positioning5
Positioning Control 5 (High Response, Horizontal Axis
Limited, FFGN Manual Setting)
05 Trajectory1 Trajectory Control 1
06 Trajectory2 Trajectory Control 2 (KP,FFGN Manual Setting)
◆
“
Positioning Control 1
”

Used for general purpose positioning.

Used for Velocity control mode or Torque control mode.

Can be used for always affected by gravity and external forces.
◆
“
Positioning Control 2
”

Used for Position control mode.

If used for response positioning for shortened positioning time.

Can be used for always affected by gravity and external forces.
◆
“
Positioning Control 3
”

On the basis of
“
Positioning Control 2
”
to FFGN adjustment.
◆
“
Positioning Control 4
”

Select this mode when the machine movement is in horizontal axis and receives no
impacts from external force.

Positioning time may be shortened compared to
“
Positioning Control 2.
”

Use this mode in
“
Position control mode.
”

Machines may receive any impacts.
◆
“
Positioning Control 5
”
.

On the basis of
“
Positioning Control 4
”
to FFGN adjustment.

Do not used for always affected by gravity and external forces.

The machine may receive impulse.
◆
“
Trajectory Control 1
”

Used when following position command pulse and cutting behavior.

Used for Position control mode.

Can be used for always affected by gravity and external forces.

Select this mode for single axis use. The response of each axis can be different.

Used when cooperating with other axes, which used for
“
Trajectory Control 2
”
.

The positioning characteristics will change when the
“
Position Loop Gain
”
is altered
with fluctuation of the estimated inertia moment. Please adopt
“
Trajectory Control 2
”
or use manual tuning if you want to avoid this change.
◆
“
Trajectory Control 2
”

This setting is used to tune the response of each axis positioning loop in cooperation
with the other axes.

Used for Position control mode.

Can be used for always affected by gravity and external forces.
✔
When you use this mode for trajectory control, do not set
“
ID0A Position Control
Selection
”
at Model following vibration suppressor control. In Model following
vibration suppressor control, trajectory will be out of alignment.