5-23
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in T
rouble
7
Supplement
2. Real-Time Auto-Gain Tuning
Two-degree-of-freedom control mode – Synchronous type
• Parameters which are set in respons to gain switching setup
The real-time auto-tuning function sets the following parameters according to Pr0.02
Real-time auto-tuning setup, or uses current setup values.
Class No.
Title
Function
1
14
2nd gain setup
In the synchronous mode, synchronous
friction compensation mode or stiffness
setup mode (Pr0.02 = 1 to 3), sets to 1.
1
15
Mode of position control switching
In the synchronous mode, synchronous
friction compensation mode or stiffness
setup mode (Pr0.02 = 1 to 3), sets to 0.
1
16
Delay time of position control switching
In the synchronous mode, synchronous
friction compensation mode or stiffness
setup mode (Pr0.02 = 1 to 3), sets to 10.
1
17
Level of position control switching
In the synchronous mode, synchronous
friction compensation mode or stiffness
setup mode (Pr0.02 = 1 to 3), sets to 0.
1
18
Hysteresis at position control switching
1
19
Position gain switching time
In the synchronous mode, synchronous
friction compensation mode or stiffness
setup mode (Pr0.02 = 1 to 3), sets to 10.
1
20
Mode of velocity control switching
Sets to 0 if real-time auto-tuning is valid
(Pr0.02 = 1 to 4).
1
21
Delay time of velocity control switching
1
22
Level of velocity control switching
1
23
Hysteresis at velocity control switching
1
24
Mode of torque control switching
1
25
Delay time of torque control switching
1
26
Level of torque control switching
1
27
Hysteresis at torque control switching
6
05
Position 3rd gain valid time
When the real-time auto-tuning remains
valid (Pr0.02 = 1 to 4), uses the current
setup value.
6
06
Position 3rd gain scale factor
• Parameters which are always set to invalid
The following settings are always set to invalid when Pr0.02 Real-time auto-tuning
setup is not 0. Note that setup values of parameters remain unchanged.
Class No.
Title
Function
6
10
Function expansion setup
Instantaneous speed observer function enable bit (bit
0), disturbance observer function enable bit (bit 1)
and inertia ratio switching function enable bit (bit 3)
are internally disabled.
6
13
2nd Inertia ratio
Parameter setup can be changed, but inertia ration
switching function is disabled.
The following settings and parameters are set automatic for enable/disable state of
Pr 6.10 “Function expansion setting” load variation suppression function automatic
adjustment.
Class No.
Title
Function
6
10
Function expansion setup
When set to Pr 6.10 bit14=1 in case of stiffness
setting is enabled, load variation suppression
function will become enabled (bit1 = 1).
When set to Pr 6.10 bit14=0,it is disabled(bit1 = 1).
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