6-70
TI71M01D06-01EN 3rd Edition: 2012.12.01
#parameters Related to Auto-tuning Operation
#parameter No.
#parameter name
Description
#51
Operation range under auto-tuning
mode
This parameter specifies the auto-tuning operation width.
This parameter can be used without changing the initial value under normal
circumstances.
Make this value larger (two to five times) if the auto-tuning is not completed
normally, and perform the auto-tuning again.
At shipment from the factory, this parameter is set to a value equivalent to 2%
of the rated velocity.
Example: If the rated velocity is 2rps
2 x 0.02 x 360 degrees
→
Equivalent to 14.4 degrees
#52
Maximum acceleration/deceleration
time under auto-tuning
This parameter can be used without changing the initial value set at shipment
from the factory under normal circumstances.
#53
Initial acceleration/deceleration time
under auto-tuning
This parameter can be used without changing the initial value set at shipment
from the factory under normal circumstances.
#1
Servo stiffness setup
This parameter specifies the servo rigidity after the auto-tuning operation.
Make this value smaller if the auto-tuning is not completed normally, or if
oscillation or instability occurs.
#54
Repetition number for auto-tuning
This parameter can be used without changing the initial value set at shipment
from the factory (#54 = 6) under normal circumstances.
#parameters Set Automatically after Executing Auto-tuning Operation
#parameter No.
#parameter name
Description
#0
Load inertia/Load mass
The load inertia value is set automatically in this parameter after auto-tuning.
If the load inertia value is known, it is all right to write the load inertia value
directly in this #parameter without performing auto-tuning.
#2 or #3
Velocity control bandwidth #1
or
Velocity control bandwidth #2
This parameter is set automatically after auto-tuning. The velocity control
band frequency is set automatically in the #parameter selected by
IN_VELFREQ_SEL according to the setting status of #1 [servo stiffness
setup].
#8 or #9
Position control bandwidth #1
or
Position control bandwidth #2
This parameter is set automatically after auto-tuning. The position control
band frequency is set automatically in the #parameter selected by
IN_POSFREQ_SEL according to the setting status of #1 [servo stiffness
setup].
#6 or #7
Velocity integral limiting value #1
or
Velocity integral limiting value #2
This #parameter is used only when the velocity control method is set to
proportional integral control in system setup register 1. It is automatically set
in the #parameter selected by IN_VELFREQ_SEL when you perform
auto-tuning. The value specifies the maximum torque that may be output by
the integrator in the controller to remove a small velocity deviation (the value
varies depending on the motor model, load inertia and servo stiffness setup
value).
#12 or #13
Position integral limiting value #1
or
Position integral limiting value #2
This limiter restricts the amount of position integration of the position control
loop. This #parameter is used only when the control mode is set to position
control and the velocity control method is set to proportional control in system
setup register 1. It is automatically set in the #parameter selected by
IN_POSFREQ_SEL when you perform auto-tuning. The value specifies the
maximum torque that may be output by the integrator in the controller to
remove a small velocity deviation (the value varies depending on the motor
model, load inertia and servo stiffness setup value).