5-89
5-27 Details on Important Parameters
Ope
rati
n
g Func
tions
5
Sets the operating mode for realtime autotuning.
A setting of 3 or 6 will provide faster response to changes in inertia during operation. Operation,
however, may be unstable depending on the operating pattern.
Normally, set the parameter to 1 or 4.
Set to 4 to 6 when the Servomotor is used as a vertical axis.
Gain switching is enabled at set values 1 to 6.
Use a setting of 7 if operation changes caused by gain switching are a problem.
Sets the machine rigidity for realtime autotuning.
When realtime autotuning is enabled, each parameter in the table is automatically set to the
machine rigidity values in "Realtime Autotuning (RTAT) Parameter Tables" on the next page.
Autotuning adjusts the response by estimating the load inertia based on these values.
Thus, if the value is too large and not suitable for the load, vibration or resonance may occur.
If this occurs, lower the setting.
Pn No.
Parameter name
Setting
range
Unit
Default
setting
Attribute
Pn021
Realtime Autotuning
Mode Selection
0 to 7
---
0
B
Setting
Realtime Autotuning
Degree of change in load inertia
0
Disabled
---
1
Horizontal axis mode
Almost no change
2
Gradual changes
3
Sudden changes
4
Vertical axis mode
Almost no change
5
Gradual changes
6
Sudden changes
7
Gain switching disable mode
Almost no change
In realtime autotuning, responses to inertia changes are derived from the
changes in approximately 10 s.
Realtime autotuning may not be able to follow sharp changes in inertia.
In this case, the vibrations may occur in the operation. Disable realtime
autotuning by setting 0 when the operation has become normal.
Pn No.
Parameter name
Setting
range
Unit
Default
setting
Attribute
Pn022
Realtime Autotuning
Machine Rigidity Selection
0 to F
---
2
B
Precautions
for Correct Use