5-12
2. Real-Time Auto-Gain Tuning
Two-degree-of-freedom control mode – Standard type
How to Operate
1) Bring the motor to stall (Servo-off).
2) Set up Pr0.02
(Setup of real-time auto-gain tuning mode) to other than 0, 6.
Setup
value
Real-time auto-gain
tuning
Explanation
0
Invalid
Real-time auto-gain tuning function is disabled.
1
Standard response
mode
Stability-first mode. Do not use unbalanced load
compensation, friction compensation or gain switching.
2
Quick response
mode 1
Positioning-first mode. Use this mode for equipment with
horizontal axis, low friction ball screw driving and without
unbalanced load.
3
Quick response
mode 2
In addition to the features provided with the Quick
response mode 1, use this mode to compensate
unbalanced load, to apply third gain to reduce variation in
positioning settling time.
4
Quick response
mode 3
*
1
In addition to the features provided with the Quick
response mode 2, use this mode to shorten positioning
settling time when the load has high friction.
5
Load characteristic
measurement
Estimate load characteristics without changing basic gain
setting or friction compensation setting with the help of
the setup support software.
6
Fit gain mode
To be used for fine adjustment of rigidity setting after
completion of fit gain.
Control parameter is automatically set according to Pr0.03 Real-time auto-tuning stiff-
ness setup.
[Example of real-time auto-tuning setup]
1) When performing adjustment focusing on settling time by using PTP control.
It is recommended to use quick response mode (Pr0.02 = 2-4). When friction has large
effect, use quick response mode 3 (Pr0.02 = 4).
The 3rd gain of quick response mode 2 and 3 (Pr0.02 = 3-4) should be doubled for a
short time to damp vibration during settling.
If Pr0.03 (stiffness setting) is too high, it may cause oscillation during settling time. Ob-
serve the settled waveform.
2) When locus accuracy is necessary in CP control of machine e.g. processing machine,
use the standard mode (Pr0.02 = 1) or quick response mode 1 (Pr0.02 = 2) if higher
accuracy is required.
When 2 or more axes must be synchronized together, coordinate the stiffness setting
(Pr0.03) so that Pr2.22 (command smoothing filter) of all axes have the same value.
Note
Related page
• While the auto-tuning is valid, parameters that are to be automatically adjusted cannot be
changed.
• P.2-109 “EEPROM Writing Mode” • P.4-6 to P.4-85... “Details of parameter”
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