Chapter 8 Servo Parameters
8-90 Revision January 2011
P2 - 32▲
AUT2 Tuning Mode Selection Address: 0240H, 0241H
Default: 0 Related Section: Section 5.6,
Applicable Control Mode: ALL Section 6.3.6
Unit: N/A
Range: 0 ~ 2
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
0: Manual mode
1: Auto Mode [Continuous adjustment]
2: Semi-Auto Mode [Non-continuous adjustment]
Explanation of manual mode:
1. When P2-32 is set to mode#0, the setting value of P2-00, P2-02, P2-04, P2-06, P2-07,
P2-25 and P2-26 can be user-defined. When switching mode #1 or #2 to #0, the
setting value of P2-00, P2-02, P2-04, P2-06, P2-07, P2-25 and P2-26 will change to
the value that measured in #1 auto-tuning mode or #2 semi-auto tuning mode.
Explanation of auto-tuning mode:
The servo drive will continuously estimate the system inertia, save the measured load
inertia value automatically and memorized in P1-37 every 30 minutes by referring to
the frequency response settings of P2-31.
1. When switching mode #1 or #2 to #0, the servo drive will continuously estimate the
system inertia, save the measured load inertia value automatically and memorized
in P1-37. Then, set the corresponding parameters according to this measured load
inertia value.
2. When switching mode#0 or #1 to #2, enter the appropriate load inertia value in P1-
37.
3. When switching mode#1 to #0, the setting value of P2-00, P2-04 and P2-06 will
change to the value that measured in #1 auto-tuning mode.
Explanation of semi-auto tuning mode:
1. When switching mode #2 to #0, the setting value of P2-00, P2-04, P2-06, P2-25 and
P2-26 will change to the value that measured in #1 auto-tuning mode.
2. After the system inertia becomes stable (The displau of P2-33 will show 1), it will
stop estimating the system inertia, save the measured load inertia value
automatically, and memorized in P1-37. However, when P2-32 is set to mode#1 or
#2, the servo drive will continuously perform the adjustment for a period of time.
3. When the value of the system inertia becomes over high, the display of P2-33 will
show 0 and the servo drive will start to adjust the load inertia value continuously.
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