9.8 Autotuning with a Host Reference
9.8.1 Overview
This section describes autotuning with a host reference.
Autotuning with a host reference makes adjustments based on the set
speed loop gain (Pn100). Therefore, precise adjustments cannot be
made if there is vibration when adjustments are started. Make adjust-
ments after lowering the speed loop gain (Pn100) until vibration is elimi-
nated.
9.8.2 Outline
Autotuning with a host reference automatically makes optimum adjustments for operation
references from the host controller.
The following items are adjusted automatically.
n
Gains (e.g., speed loop gain and position loop gain)
n
Filters (torque reference filter and notch filters)
n
Friction compensation
n
Anti-resonance control
n
Vibration suppression
Refer to the following section for details on the parameters that are adjusted.
Chap. 9.8.8 ‘Related Parameters’ page 349
Movement
speed
Operation
references
Host controller
SERVOPACK
Servomotor
Travel Distance
Responses
References
Travel D
istance
Fig. 247: Autotuning with a Host Reference
CAUTION!
Because autotuning with a host reference adjusts the SERVOPACK
during automatic operation, vibration or overshooting may occur. To
ensure safety, make sure that you can perform an emergency stop at any
time.
9.8.3 Restrictions
Adjustments will not be made correctly for autotuning with a host reference in the fol-
lowing cases. Use custom tuning.
Systems for Which Adjust-
ments Cannot Be Made
Accurately
Sigma-7 Series SERVOPACKs
Tuning
Autotuning with a Host Reference > Restrictions
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en |
339
