RS Automation OEMax CSD7, User Manual, Page: 215 / 332

Tuning by Gain Setting
8-11
CSD7 Servo Drive (EtherCAT)
Operation (Tuning) Method
For operation method of off-line auto tuning, refer to “Off-line Auto
Tuning (0x3001, run-01)” on page 9-36.
Velocity Response Level (0x2100, Ft-1.00)
The available maximum bandwidth is determined based on the
inertia ratio measured by auto tuning (0x3001, run-01), and the
system gain 0x2101 (Ft-1.01) is set by the maximum bandwidth and
the velocity response level.
System Gain (0x2101, Ft-1.01) [Hz]
= Max. Bandwidth [Hz] * Velocity Response Level [%]
0x2100 Velocity Response Level CSP
Setting Range Size (Data Type) Unit Access PDO Map Attribute Init Value Ft-no
1~100 1 byte(USINT) % RW - Always 35 Ft-1.00
Ft-1.00 Velocity Response Level
Description
Define the reflection ratio of the maximum bandwidth recommended
by the drive on the basis of the inertia ratio measured after auto
tuning.
This parameter is to define the reflection ratio of the maximum
system gain recommended by the drive after performing the “inertia
estimation” or “inertia and resonance frequency estimation” as
defined in 0x2003[01] (Ft-0.03[D0]). For example, if the ‘maximum
bandwidth’ of a system after auto tuning is ‘200Hz’, the system gain
0x2101 (Ft-1.01) is defined to be 70Hz as per initial value (35%) of
0x2100 (Ft-1.00). As the “maximum bandwidth” is based on the
estimated inertia ratio, it is not always the same value, but
determined depending on the system features.
The initial value of the velocity response level is set to 35%. If this
value is modified, the system gain(0x2101, Ft-1.01) and five basic
gains (0x2102(Ft-1.02), 0x2103(Ft-1.03), 0x2107(Ft-1.07), 0x2202(Ft-
2.02), 0x2402(Ft-4.02)) are changed to a proper values automatically.