Fagor BCSD Series User Manual

Digital Brushless AC Servo Drive system - Ref. 1809 BCSD-73/116
4.6.3. Setting Online Autotuning
Related parameters:
4.6.4. Machine Rigidity Setting for Online Autotuning
There are 16 machine rigidity settings for online autotuning, When the machine rigidity setting is selected,
the servo gains (speed loop gain, speed loop integral time constant) are determined automatically. The
factory setting for the machine rigidity setting is 5.
Parameter
No.
Name Unit
Setting
Range
Factory
Setting
Setting
Invalidation
Pn100
Online autotuning setting
0: Manual gain adjustment
1, 2, 3 = Normal mode; 4, 5, 6 = Vertical load
1, 4 = Load inertia without variation;
2, 5 = Load inertia with little variation;
3, 6 = Load inertia with great variation
— 0 ~ 6 1 After restart
Pn101 Machine rigidity setting — 0 ~ 15 5 Immediately
Pn128
Speed gain acceleration relationship
during online autotuning
If the setting is greater, the servo gain will
increase.
— 0 ~ 3 3 Immediately
Machine Rigidity Setting
Speed Loop Gain [rad/s]
Pn102
Speed Loop Integral Time
Constant [0.1 ms]
Pn103
040 800
160 600
280 450
3 100 400
4 120 300
5 160 200
6 260 140
7 320 110
8 400 90
9 480 80
10 560 70
11 640 60
12 720 55
13 840 50
14 1000 40
15 1200 30

Fagor BCSD Series Specifications

General

Brand	Fagor
Model	BCSD Series
Category	Servo Drives
Language	English