5-14
Parameters set/changed by real-time auto-gain tuning
• Parameters which are updated
The real-time auto-tuning function updates the following parameters according to
Pr0.02 Real-time auto-tuning setup by using the load characteristic estimate values.
Class No.
Title
Function
0
04
Inertia ratio
Updates this parameter when the real-time
auto-tuning is enabled (Pr0.02 = 1 to 4).
6
07
Torque command additional value
Updates this parameter when the real-time
auto-tuning is in the quick response mode 2,
3 (Pr0.02 = 3, 4).
6
08
Positive direction torque compen-
sation value
Updates this parameter when the real-time
auto-tuning is in the quick response mode 3
(Pr0.02 = 4).
6
09
Negative direction torque compen
-
sation value
6
50
Viscous friction compensation gain
•
Parameters which are updated to setup value corresponding to stiffness setup
The real-time auto-tuning function updates the following basic gain setup parameters
according to Pr0.03 Real-time auto-tuning stiffness setup.
Class No.
Title
Function
1
00
1st gain of position loop
When real-time auto-tuning is valid (Pr0.02
= 1 to 4), updates the setup value according
to the stiffness.
Refer to P.5-9 Basic gain parameter setup
table.
1
01
1st gain of velocity loop
1
02
1st time constant of velocity loop
integration
1
04
1st time constant of torque filter
1
05
2nd gain of position loop
1
06
2nd gain of velocity loop
1
07
2nd time constant of velocity loop
integration
1
09
2nd time constant of torque filter
2
22
Command smoothing filter
When real-time auto-tuning is valid (Pr0.02
= 1 to 4), updates the setup value according
to the stiffness.
*
For velocity control, primary filter is fixed.
6
48
Adjust filter
• Parameters which are set to fixed value
Real-time auto-tuning function sets the following parameters to fixed value.
Class No.
Title
Setup value
1
03
1st filter of speed detection
0
1
08
2nd filter of speed detection
1
10
Velocity feed forward gain
1000 (100 %)
1
11
Velocity feed forward filter
0
1
12
Torque feed forward gain
1000 (100 %)
1
13
Torque feed forward filter
0
6
10
Function expansion setup 2
bit4=1
6
49
Adjust/Torque command attenuation term
15
2. Real-Time Auto-Gain Tuning
Two-degree-of-freedom control mode – Standard type
Related page
•P.4-6 to P.4-85... “Details of parameter”
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