8.8 Custom Tuning
8.8.1 Outline
8-41
8
T
uning
8.8
Custom Tuning
This section describes custom tuning.
8.8.1
Outline
You can use custom tuning to manually adjust the servo during operation using a speed or
position reference input from the SVD. You can use it to fine-tune adjustments that were made
with autotuning.
The following items are adjusted automatically.
•
Gains (e.g., speed loop gain and position loop gain)
•
Filters (torque reference filter and notch filters)
•
Friction compensation
•
Anti-resonance control
Refer to the following section for details on the parameters that are adjusted.
There are two adjustment methods that you can use for custom tuning.
Tuning Mode 0 (Setting Servo Gains Giving Priority to Stability) or 1 (Setting Servo
Gains Giving Priority to Good Response)
These modes allow you to set stable control conditions for multiple servo gains by manipulating
only one tuning level. Automatic setting of notch filters and anti-resonance control is provided if
vibration is detected. Manual anti-resonance control adjustment is also possible during custom
tuning.
Tuning Mode 2 (Setting Servo Gains Giving Priority to Position Control Applications)
or 3 (Setting Servo Gains Giving Priority to Preventing Overshooting in Position Con-
trol Applications)
Two tuning levels are manipulated to reduce positioning time even further and set multiple
servo gains. Model following control is used to reduce the positioning time. If vibration is
detected, notch filters and anti-resonance control are automatically adjusted, and friction com-
pensation is automatically set. Manual anti-resonance control adjustment and vibration sup-
pression are also possible during custom tuning.
8.8.2
Preparations
Always check the following before you execute custom tuning.
•
The test without a motor function must be disabled (Pn00C = n.
0).
•
The tuning-less function must be disabled (Pn170 = n.
0).
•
If speed control is used, tuning mode 0 or 1 must be set.
•
The parameters must not be write prohibited.
CAUTION
Vibration or overshooting may occur during custom tuning. To ensure safety, make sure that
you can perform an emergency stop at any time.
