Parameter
Name
Automatic
Changes
Pn146
Vibration Suppression 1 Frequency B
Yes
Pn147
Model Following Control Speed Feedforward Compen-
sation
Yes
Pn160
Anti-Resonance Control-Related Selections
Yes
Pn161
Anti-Resonance Frequency
Yes
Pn163
Anti-Resonance Damping Gain
Yes
Yes: The parameter is automatically set.
No: The parameter is not automatically set, but the setting is read during execution.
9.9 Custom Tuning
9.9.1 Overview
This section describes custom tuning.
9.9.2 Outline
You can use custom tuning to manually adjust the servo during operation using a speed
or position reference input from the host controller. You can use it to fine-tune adjust-
ments that were made with autotuning.
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
Refer to the following section for details on the parameters that are adjusted.
Chap. 9.9.8 ‘Related Parameters’ page 364
There are two adjustment methods that you can use for custom tuning.
n
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-reso-
nance control is provided if vibration is detected. Manual anti-resonance control
adjustment is also possible during custom tuning.
n
Tuning Mode 2 (Setting Servo Gains Giving Priority to Position Control Applica-
tions) or 3 (Setting Servo Gains Giving Priority to Preventing Overshooting in
Position Control 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 vibra-
tion suppression are also possible during custom tuning.
Sigma-7 Series SERVOPACKs
Tuning
Custom Tuning > Outline
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