7-7
7-2 Realtime Autotuning
Adjustment Functions
7
Realtime Autotuning (RTAT) Parameter Tables
Parameter
No.
Parameter name
AT Mode Selection
(Pn021)
AT Machine Rigidity Selection (Pn022)
0
1
2
3
4
5
6
7
Pn010
Position Loop Gain
---
120
320
390
480
630
720
900
1080
Pn011
Speed Loop Gain
---
90
180
220
270
350
400
500
600
Pn012
Speed Loop Integration Time
Constant
---
620
310
250
210
160
140
120
110
Pn013
Speed Feedback Filter Time
Constant
---
0
0
0
0
0
0
0
0
Pn014
Torque Command
Filter Time Constant
*1
---
253
126
103
84
65
57
45
38
Pn015
Speed Feed-forward Amount
---
300
300
300
300
300
300
300
300
Pn016
Feed-forward Filter Time
Constant
---
50
50
50
50
50
50
50
50
Pn017
Reserved
---
0
0
0
0
0
0
0
0
Pn018
Position Loop Gain 2
---
190
380
460
570
730
840
1050 1260
Pn019
Speed Loop Gain 2
---
90
180
220
270
350
400
500
600
Pn01A
Speed Loop Integration Time
Constant 2
1, 2, 3, 7
10000 10000 10000 10000 10000 10000 10000 10000
4, 5, 6
9999 9999 9999 9999 9999 9999 9999 9999
Pn01B
Speed Feedback Filter Time
Constant 2
---
0
0
0
0
0
0
0
0
Pn01C
Torque Command Filter Time
Constant 2
*1
---
253
126
103
84
65
57
45
38
Pn020
Inertia Ratio
---
Estimated load inertia ratio
Pn027
Instantaneous Speed
Observer Setting
---
0
0
0
0
0
0
0
0
Pn030
Gain Switching Operating Mode
Selection
---
1
1
1
1
1
1
1
1
Pn031
Gain Switch Setting
*3
1 to 6
10
10
10
10
10
10
10
10
7
0
0
0
0
0
0
0
0
Pn032
Gain Switch Time
---
30
30
30
30
30
30
30
30
Pn033
Gain Switch Level Setting
---
50
50
50
50
50
50
50
50
Pn034
Gain Switch Hysteresis
Setting
---
33
33
33
33
33
33
33
33
Pn035
Position Loop Gain Switching
Time
---
20
20
20
20
20
20
20
20