149
[Adjustment]
Adjustment
101st position loop gain
111st velocity loop gain
12
1st velocity loop integration time constant
131st speed detection filter
141st torque filter time constant *2
15Velocity feed forward
16Feed forward filter time constant
182nd position loop gain
192nd velocity loop gain
1A
2nd velocity loop integration time constant
1B2nd speed detection filter
1C2nd torque filter time constant *2
20Inertia ratio
27Velocity observer
302nd gain action set up
311st control switching mode
321st control switching delay time
331st control switching level
341st control switching hysteresis
35Position loop gain switching time
0
[1]
2
3[4]
5
6
7
8
9
10 11 12 13
14
15
12
9
62
0
253
300
50
19
9
999
0
253
0
1
10
30
50
33
20
32
18
31
0
126
300
50
38
18
999
0
126
0
1
10
30
50
33
20
39
22
25
0
103
300
50
46
22
999
0
103
0
1
10
30
50
33
20
48
27
21
0
84
300
50
57
27
999
0
84
0
1
10
30
50
33
20
63
35
16
0
65
300
50
73
35
999
0
65
0
1
10
30
50
33
20
72
40
14
0
57
300
50
84
40
999
0
57
0
1
10
30
50
33
20
90
50
12
0
45
300
50
105
50
999
0
45
0
1
10
30
50
33
20
108
60
11
0
38
300
50
126
60
999
0
38
0
1
10
30
50
33
20
135
75
9
0
30
300
50
157
75
999
0
30
0
1
10
30
50
33
20
162
90
8
0
25
300
50
188
90
999
0
25
0
1
10
30
50
33
20
206
115
7
0
20
300
50
241
115
999
0
20
0
1
10
30
50
33
20
251
140
6
0
16
300
50
293
140
999
0
16
0
1
10
30
50
33
20
305
170
5
0
13
300
50
356
170
999
0
13
0
1
10
30
50
33
20
377
210
4
0
11
300
50
440
210
999
0
11
0
1
10
30
50
33
20
449
250
4
0
10
300
50
524
250
999
0
10
0
1
10
30
50
33
20
557
310
3
0
10
300
50
649
310
999
0
10
0
1
10
30
50
33
20
Stiffness value
represents parameters with fixed value. Default for A to C-frame is 4, and 1 for D to F-frame.
*2 Lower limit for stiffness value is 10 for 17-bit encoder, and 25 for 2500P/r encoder.
Title
Pr 
No.
Estimated load inertia ratio
Auto-Gain Tuning Action

(1) In the normal mode auto-gain tuning, you can set up the response with machine stiffness No..

Machine stiffness No.

•

Represents the degree of machine stiffness of the customer's machine and have values from o to 15.

You can set a higher No. to the high stiffness machine and set up a higher gain.

• Usually start setting up with a lower value and increase gradually to repeat auto-gain tuning in the

range where no oscillation, no abnormal noise, nor vibration occurs.

(2) This tuning repeats max. 5 cycles of the action pattern set with SV.Pr25 (Normal auto tuning motion

setup). Action acceleration will be doubled every one cycle after third cycle. Tuning may finish, or action

acceleration does not vary before 5th cycle depending on the load, however, this is nor an error.

How to Operate

(1) Set up the action pattern with SV.Pr25.

(2) Shift the load to the position where no hazard is expected even though the action pattern which is set

with SV.Pr25 is executed.

(3) Prohibit the command entry. (Do not enter the action command during the normal mode auto-gain tuning.)

(4) Turn to Servo-ON.

(5) Start up the auto-gain tuning. Use the "PANATERM®".

(6) Adjust the machine stiffness to the level at which no vibration occurs and obtain the required response.

(7) Write the result to EEPROM, if it is satisfactory.

Parameters Which Are Automatically Set

Table of auto-gain tuning