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ProNet Series AC Servo User's Manual
- 127 -
4.12.3 Setting Online Autotuning
Related parameters:
Parameter
No.
Name Unit
Setting
Range
Factory
Setting
Setting
Invalidation
Pn100
Online autotuning setting
0:Manual gain adjustment
1,2,3= Normal mode;4,5,6=Vertical load
1,4 = Load inertia without variation;
2,5 = Load inertia with little variation;
3,6= Load inertia with great variation
— 0~6 1 After restart
Pn101 Machine rigidity setting — 0~15 5 Immediately
Pn128
Speed gain acceleration relationship during
online autotuning
If the setting is greater, the servo gain will
increase.
—
0~3 3 Immediately
4.12.4 Machine Rigidity Setting for Online Autotuning
There are 16 machine rigidity settings for online autotuning, When the machine rigidity setting is selected, the servo
gains (speed loop gain, speed loop integral time constant, position loop gain) are determined automatically. The
factory setting for the machine rigidity setting is 5.
Machine
Rigidity Setting
Position Loop Gain 【 s
-1
】
Pn104
Speed Loop Gain 【 Hz 】
Pn102=Pn104*( Pn128+1)
Speed Loop Integral Time
Constant 【 0.1ms 】
Pn103
0 10 40 800
1 15 60 600
2 20 80 450
3 25 100 400
4 30 120 300
5 40 160 200
6 65 260 140
7 80 320 110
8 100 400 90
9 120 480 80
10 140 560 70
11 160 640 60
12 180 720 55
13 210 840 50
14 250 1000 40
15 300 1200 30