Fuji Electric ALPHA7, Руководство пользователя

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CHAPTER 5 SERVO ADJUSTMENT
Auto Tuning
5-11
5
5.4 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, and optimum gain is automatically settled.
5.4.1 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 100 times of the servomotor.

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.
5.4.2 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 0: Auto tuning 1: 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 "5.4.3 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 interia 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.