4-95
H
Online Auto-tuning Related User Parameters
Param-
t
Param-
Explanation
Default
tti
Unit
Setting Restart
eter
No.
eter
name
Digit
No.
Name
Setting
Explanation
setting
g
range
power
?
Pn100
Speed
loop
gain
Adjusts speed loop responsiveness.
80
Hz
1 to
2000
No
Pn101
Speed
loop in-
tegra-
tion time
constant
Speed loop integration time constant
2000
x
0.01 ms
15 to
51200
No
Pn102
Posi-
tion
loop
gain
Adjusts position loop responsiveness.
40
1/s
1 to
2000
No
Pn103
Inertia
ratio
Sets the ratio using the mechanical system inertia to Servomotor rotor
inertia ratio.
300
%
0 to
10000
No
Pn110
Online
auto-
tuning
tti
0
Online
auto-tuning
selection
0
Turns ON the power supply, then
performs auto-tuning on the RUN
startup only.
0012
---
---
Yes
g
setting
1
Auto-tuning always ON.
2
Auto-tuning OFF.
1
Speed
feedback
compensati
0
ON
compensati
on function
selection
1
OFF
2
Viscous
f i i
0
Friction compensation: OFF
friction
compensati
on function
1
Friction compensation: Rated torque
ratio (small)
on function
selection
2
Friction compensation: Rated torque
ratio (large)
3
Not used.
0
Do not change the setting.
Pn401
Torque
com-
mand fil-
ter time
constant
Sets the filter time constant for the internal torque command.
40
x
0.01 ms
0 to
65535
No
Note
Refer to
4-4-4 Parameter Details
for details of each parameter.
4-7-2
Manual Tuning
H
Rigidity Settings During Online Auto-tuning (Fn001)
•
If you set the rigidity during online auto-tuning, the gains corresponding to machine rigidity are set
automatically. Even if you adjust the gain as an initial setting using manual tuning, you can perform
tuning comparatively quickly, so we recommend setting the rigidity (Fn001) first.
•
Select the rigidity setting to suit the mechanical system from the following 10 levels.
Note
Refer to
4-11-2 Online Auto-tuning Related Functions
for System Check Mode operations.
Operation
Chapter 4
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : [email protected]
