Shihlin electric SDP Series, Manual

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5.3.3 Auto tuning function
The auto-tuning function can estimate the load inertia ratio for servo drive in real time, and
automatically set the best gain (GAIN value) according to the estimated value and the
operation conditions. By using the auto-tuning function, the gain tuning of the servo drive can
be performed easily and quickly.
5.3.3.1Auto-tuning function
Auto-gain tuning mode 1
This mode is the factory default setting. If the servo is set to this function (PA02=0002), it will
estimate the load inertia ratio continuously and set the servo gain value automatically. The
only parameter that can be modified by the user is the response setting (PA03).
The related parameters and settings of this mode are as follows:
Parameter NO
Parameter
abbreviation
Parameter name
Modifiable or
auto-estimated
PA03 ATUL
Auto-tuning response
level setting
Modifiable
PB06 GD1
Servo motor Load
inertia ratio
Auto-estimate
PB07 PG1 Position loop gain Auto-estimate
PB08 VG1 Speed loop gain Auto-estimate
PB09 VIC Speed integral gain Auto-estimate
The following conditions is required if you set the servo to auto-gain tuning mode 1.
1.The acceleration time from 0rpm to 2000rpm or the deceleration time from 2000rpm to
0rpm should be 2 seconds or less. If a 3000rpm case is applied, the acceleration and
deceleration time should be 3 seconds or less.
2.The speed command should be 250rpm or higher
3.The load inertia ratio should be 100 times or less.
4.This tuning mode is not applicable to those occasions with enormous load and inertia ratio
change.
5.Acceleration or deceleration torque should be the 10% or more of rated torque.
Auto gain tuning mode 2
When automatic gain tuning mode 1 cannot estimate the inertia correctly, you can use auto-
gain tuning mode 2. By setting PA02 to 0003 in this mode, the load inertia ratio will not be