CHAPTER 5 SERVO ADJUSTMENT
5-8
Easy Tuning
5
Results of easy tuning
After easy tuning is normally finished, the gain and load inertia ratio automatically adjusted in
tuning are reflected on parameters (the table below).
< The parameters set with easy-tuning >
No.: PA1_ Name
14 Load inertia ratio
51 Moving average S-curve time
54
Position command response time
constant
55 Position loop gain 1
56 Speed loop gain 1
57
Speed loop integration time
constant 1
59
Torque filter time constant for
position and speed control
87 Model torque filter time constant
88
Position loop integration time
constant
If resonance is observed during easy tuning, a notch filter is automatically set to suppress
resonance, and the filter is reflected on parameters.
Perform regular operation under the above status and if satisfactory actions are obtained, there is
no need to perform tuning described on following pages.
Notes on easy tuning
With easy tuning, automatic operation is performed according to functions of the servo amplifier.
Sufficient care should be taken on the safety.
If ill effects are expected to the machine due to resonance of the motor with the mechanical
system, assign the servo-on (S-ON) signal to a CONT signal before starting easy tuning.
If a fault is found during operation, turn the signal off immediately.
If the excessive stroke cause damage to the machine, assign ± over-travel (±OT) signals to CONT
signals and install over-travel sensors at both ends of the motion stroke before starting easy
tuning.
Easy tuning for vertical transportation
When performing easy tuning with the servomotor for vertical transportation, to prevent a carried
object from falling due to its own weight, turn the servo-on signal to ON and check that the servo
lock is activated before releasing the brake.
Then performe easy tuning, refer to P5-6 procedure.
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