Servo Adjustment
6.3.1 Online Autotuning
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6.3 Autotuning
If positioning is taking a long time, the speed loop gain or position loop gain of the servo system may
not be set properly. If the gain settingsare wrong, set them properly in accordance with theconfigura-
tion and rigidity of the machinery.
Load inertia
Servomotor
Servopack
Friction
Autotuning
The characteristics of the machinery
are checked automatically for optimum
tuning.
The Servopack incorporates an online autotuning function, which checks the characteristics of the
machinery automatically and makes the necessary servo gain adjustments. The function is easy to
use and makes it possible for even beginners to perform servo gain tuning and set all servo gains as
user constants.
The following user constants can be set automatically by using the online autotuning function.
User Constant
Content
Pn100
Speed loop gain
Pn101
Speed loop integral time constant
Pn102
Position loop gain
Pn401
Torque reference filter time constant
6.3.1 Online Autotuning
Online autotuning isa control function which enablesthe Servoamp to check changesin the load
inertia during operation in order to maintain the target value for speed loop gain or position loop
gain.
Online autotuning may not work well in the following cases.
D
When the cycle for load inertia change is 200 ms or shorter (when the load changes rapidly).
D
When the application has slow acceleration or deceleration using the soft start function, and
the speed error of the Servomotor being driven is small.
D
When adjusting the Servomotor manually and operating at low gain (a machine rigidity of
1 or less).
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