Table of Contents
Advertisement
3.3
Auto tuning mode 1
The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load to motor inertia ratio)
in real time and automatically sets the optimum gain according to that value. This function allows easier gain adjustment of the
servo amplifier.
In the auto tuning mode 1, the load to motor inertia ratio of a machine is always estimated, and the optimum gain is
automatically set. This mode is the optimum method for adjustment with the response waveform being checked when the load
to motor inertia ratio of a device is unknown.
Restrictions on auto tuning mode 1
All of the following conditions should be satisfied to use auto tuning mode 1.
• The time until the acceleration/deceleration time constant reaches 2000 r/min (mm/s) is 5 s or less.
• The servo motor speed is 50 r/min (mm/s) or higher.
• The load to servo motor (mass of linear servo motor primary-side or direct drive motor) inertia ratio is 100 times or less.
• The acceleration/deceleration torque is 10 % or more of the rated torque.
The Auto tuning may not function properly under operating conditions where sudden disturbance torque is applied during
acceleration/deceleration, or in machines with low rigidity. In such cases, use the auto tuning mode 2 or the manual mode to
adjust the gain.
Instructions on auto tuning mode 1
If sudden disturbance torque is applied during operation, the load to motor inertia ratio may be miscalculated temporarily. In
such a case, set [Pr. PA08.0 Gain adjustment mode selection] to "2" (Auto tuning mode 2), and then set accurate load to
motor inertia ratio in [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio].
When the auto tuning mode 1 is changed to the manual mode, the current control gain and the load to motor inertia ratio
estimation value are saved in the non-volatile memory.
3 ADJUSTMENT METHOD
3.3 Auto tuning mode 1
3
37
Advertisement
Table of Contents
