CHAPTER 4 PARAMETER
4-16
Basic Parameters
4
The gain is automatically adjusted to the best one in relation to the setting of PA1_15 (auto tuning
gain 1), PA1_16 (auto tuning gain 2), and PA1_14 (load inertia ratio).
Manual tuning
Use this mode if auto tuning and semi-auto tuning modes do not function satisfactorily. Manually
enter the ratio of moment of inertia of the load and various gains.
Interpolation operation mode
Use this mode to adjust responses of each shaft to the command during interpolation of two or
more servomotor axes of an X-Y table or similar.
In this mode, PA1_51 (moving average S-curve time) and PA1_54 (position command response
time constant) that determine the following characteristics to commands must be entered
manually.
As well, PA1_14 (load inertia ratio) must be entered, too, manually.
The other gain adjustment parameters are automatically entered according to the value of PA1_15
(auto tuning gain 1).
Trace operation mode
Use this mode to adjust responses of each shaft to the command during trace control of two or
more servomotor axes of an X-Y table or similar.
In this mode, PA1_14 (load inertia ratio) and PA1_51 (moving average S-curve time) must be
entered manually. The parameter PA1_95 is set to "0" (model torque calculation is disabled/speed
observer is disabled). PA_54 (position command response time constant) is enabled only when
PA_1_58 (feed forward gain 1) is set to other than 0.000.
As well, PA1_14 (load inertia ratio) must be entered, too, manually.
The other gain adjustment parameters are automatically entered according to the value of PA1_15
(auto tuning gain 1).
Shorter cycle time operation mode
Use this mode to improve tact (reduce the settling time) on a machine with high rigidity such as a
ball screw.
PA1_14 (load inertia ratio) must be entered manually.
The other gain adjustment parameters are automatically entered according to the values of
PA1_15 (auto tuning gain 1) and PA1_16 (auto tuning gain 2).
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