6. GENERAL GAIN ADJUSTMENT
6.2 Auto tuning
6.2.1 Auto tuning mode
The servo amplifier has a
(1)Auto tuning mode 1
The servo amplifier is
In this mode, the load inertia moment ratio of a machine is always estimated to set the optimum gains automatically.
The following parameters are automatically adjusted in the auto tuning mode 1.
Parameter No. | Abbreviation | Name | |
12 | GD2 | Ratio of load inertia moment to servo motor inertia moment | |
13 | PG1 | Position control gain 1 | |
14 | VG1 | Speed control gain 1 | |
15 | PG2 | Position control gain 2 | |
16 | VG2 | Speed control gain 2 | |
17 | VIC | Speed integral compensation | |
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| POINT |
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| The auto tuning mode 1 may not be performed properly if the following | ||
| conditions are not satisfied. | ||
| Time to reach 2000r/min is the acceleration/deceleration time constant of 5s or | ||
| less. |
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| Speed is 150r/min or higher. | ||
| The ratio of load inertia moment to motor inertia moment is not more | ||
| than 100 times. |
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| The acceleration/deceleration torque is 10% or more of the rated torque. | ||
| Under operating conditions which will impose sudden disturbance torque | ||
| during acceleration/deceleration or on a machine which is extremely loose, | ||
| auto tuning may not function properly, either. In such cases, use the auto | ||
| tuning mode 2 or manual mode 1 2 to make gain adjustment. | ||
(2)Auto tuning mode 2
Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1. Since the load inertia moment ratio is not estimated in this mode, set the value of a correct load inertia moment ratio (parameter No. 12).
The following parameters are automatically adjusted in the auto tuning mode 2.
Parameter No. | Abbreviation | Name | |
13 | PG1 | Position control gain 1 | |
14 | VG1 | Speed control gain 1 | |
15 | PG2 | Position control gain 2 | |
16 | VG2 | Speed control gain 2 | |
17 | VIC | Speed integral compensation |
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