6. GENERAL GAIN ADJUSTMENT
6.2.2 Auto tuning mode operation
The block diagram of
|
|
|
|
|
| Automatic setting |
|
| ||||||
|
|
|
|
|
|
|
|
|
|
|
|
|
| |
Command | Control gains |
|
|
|
|
|
| Current | ||||||
|
|
|
|
|
| PG1,VG1 |
|
|
|
|
|
|
| |
|
|
|
|
|
|
|
|
|
|
|
|
| control | |
|
|
|
|
|
| PG2,VG2,VIC |
|
|
|
|
|
| ||
|
|
|
|
|
|
|
|
|
|
| Current feedback | |||
|
|
|
|
|
|
|
|
|
|
|
|
| ||
|
|
|
|
|
| Set 0 or 1 to turn on. | ||||||||
|
|
|
|
|
| tuning section | ||||||||
|
|
|
|
|
|
|
|
|
|
|
|
|
Load inertia moment
Encoder
Servo motor
Position/speed feedback
Gain | Load inertia |
| |
moment ratio |
| ||
table |
| ||
Switch estimation section | Speed feedback | ||
| |||
|
|
Parameter No.8 | Parameter No.9 | Parameter No.12 | |||||||||||||||
0 |
| 0 |
| 0 |
| 1 | 0 |
| 0 |
| 0 |
| 5 | Load inertia moment | |||
|
|
|
|
|
| ||||||||||||
|
|
|
|
|
| ratio estimation value | |||||||||||
|
|
|
|
|
|
|
| Response level |
| setting |
| ||||||
|
|
|
|
|
|
|
|
|
| ||||||||
Auto tuning selection |
|
When a servo motor is accelerated/decelerated, the load inertia moment ratio estimation section always estimates the load inertia moment ratio from the current and speed of the servo motor. The results of estimation are written to parameter No. 12 (load inertia moment ratio). These results can be confirmed on the status display screen of the servo configuration software section.
If the value of the load inertia moment ratio is already known or if estimation cannot be made properly, chose the "auto tuning mode 2" (parameter No.8:0003) to stop the estimation of the load inertia moment ratio (Switch in above diagram turned off), and set the load inertia moment ratio (parameter No. 12) manually.
From the preset load inertia moment ratio (parameter No. 12) value and response level (parameter No. 9), the optimum control gains are automatically set on the basis of the internal gain tale.
The auto tuning results are saved in the
POINT
If sudden disturbance torque is imposed during operation, the estimation of the inertia moment ratio may malfunction temporarily. In such a case, choose the "auto tuning mode 2" (parameter No. 8: 0003) and set the correct load inertia moment ratio in parameter No. 12.
6 - 5