Fuji Electric ALPHA5 Smart, Руководство пользователя

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CHAPTER 5 SERVO ADJUSTMENT
Auto Tuning
5-9
5
5.3 Auto Tuning
If satisfactory results are not obtained after easy tuning, perform "auto tuning." In this mode, the load
inertia ratio of the machine is always estimated.
The gain is adjusted to the optimal value by adjusting the parameters PA1_15 (auto tuning gain 1) and
PA1_16 (auto tuning gain 2) manually.
5.3.1 Conditions for Auto Tuning
Auto tuning may not function correctly if the following conditions are not satisfied.

The load inertia ratio of the mechanical system is within the range shown below.
GYB/GYC/GYS motor (750 W or less) : 100 times or over
GYC/GYS motor (1.0 kW or more) : 30 times or over
GYG motor
: 10 times or over

Required time to reach 2000 r/min is 5 s or shorter with the acceleration/deceleration time constant.

The motor rotation speed is 100 r/min or more.

There is no substantial load fluctuation during operation or acceleration/deceleration.

The friction force is not large and does not apply pressure.
5.3.2 Parameters Used for Auto Tuning
Parameters used for gain adjustment are listed in the table below.
No. Name Approximate reference value
PA1_13 Tuning mode selection 10: Auto tuning 11: Semi-auto tuning
PA1_14 Load inertia ratio
No need to enter
(automatically updated) Enter a stable estimated value
(or average value).
PA1_15 Auto tuning gain 1
Refer to "5.3.3 Approximate Reference Value of Auto
Tuning Gain 1" for adjustment.
PA1_16 Auto tuning gain 2 Enter when necessary.

During auto tuning, by adjusting PA1_15 (auto tuning gain 1), other parameters are automatically
adjusted. The values are always updated.

During semi-auto tuning, enter PA1_14 (load inertia ratio) and by adjusting PA1_15 (auto tuning
gain 1) other parameter are automatically adjusted.
Values are fixed as far as the setting is left unchanged.