Summa Series Servodrive Product Manual
Tuning
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
9-4
9.1.4
Precautions Before Tuning
WARNING
Before performing the tuning operation, make sure the limit function is
available.
Before performing the tuning operation, make sure that an emergency
stop can be performed at any time.
Before performing the tuning operation, you shall set the torque limit
according to actual condition.
Never touch the moving parts during the tuning operation.
9.2
Tuning Modes
9.2.1
Tuning-Less
Function Description
The tuning-less performs auto-tuning to obtain a stable response regardless of the type of machine or
changes in the load. Autotuning is started when the Servo is turned ON.
The tuning-less function uses an Autotune parameters adjustment module that updates the position loop
and speed loop parameters in real time based on the servo operating state (position, speed, current).
Figure 9-4 shows the block diagram in tuning-less.
Figure 9-4
Block diagram in tuning-less
Drive
Position loop
Speed loop
Torque loop
Position
reference
M
Current
Encoder
Motor
Speed
Position
Host
Controller
Autotune parameters
adjustment
When using the tuning-less function, the following parameters are automatically adjusted.
Parameter
Adjustment method
Speed Loop Gain
Auto-tuning
Speed Loop Integral Time
Auto-tuning
Position Loop Gain
Auto-tuning
Torque Command Filter Time
Auto-tuning
Load Inertia Percentage
Auto-tuning
NOTE
: The parameters will not change automatically in tuning-less function.
