CHAPTER 5 SERVO ADJUSTMENT
5-10
Auto Tuning
5
5.3.3 Approximate Reference Value of Auto Tuning Gain 1
By increasing auto tuning gain, response will be improved while possibly causing vibration or other ill
effects. Change the value at intervals of about 2 points.
If resonance with the mechanical system or abnormal noises are not caused, auto tuning gain 1 can be
increased and the settling time can be decreased.
Machine configuration
(Division by mechanism)
Auto tuning gain 1
(Approximate reference value)
Large transfer machine 1 to 10
Arm robot 5 to 20
Belt mechanism 10 to 25
Ball screw + Belt mechanism 15 to 30
Mechanism directly coupled with
ball screw
20 to 40
<Supplement> The parameters adjusted automatically by auto tuning
The parameters automatically adjusted by auto tuning are shown in the table below. The
parameters to be adjusted automatically are different between PA1_15 (auto tuning gain 1) and
PA1_16 (auto tuning gain 2).
Auto tuning gain 1 and 2
No. Name
PA1_15 PA1_16
PA1_14 Load inertia ratio Always updated when PA1_13 is set to 10 (auto)
PA1_51 Moving average S-curve time
○ ○
PA1_54
Position command response
time constant
○ ○
PA1_55 Position loop gain 1
○ ×
PA1_56 Speed loop gain 1
○ ×
PA1_57
Speed loop integration time
constant 1
○ ×
PA1_59
Torque filter time constant for
position and speed contorol
○ ×
PA1_87
Model torque filter time
constant
○ ×
PA1_88
Position loop integration time
constant
○ ×
○: the parameters adjusted automatically by auto tuning gain
×: the parameters not adjusted automatically even adjusted by auto tuning gain
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