Hiwin E1 Series - 6.2 Auto tune

Tuning E1 Series Servo Drive Thunder Software Operation Manual
6-4 HIWIN MIKROSYSTEM CORP.
MD12UE01-2012
6.2 Auto tune
In auto tune, the servo drive automatically adjusts control loops without receiving commands from the
controller. During the process, parameters will be adjusted according to mechanical characteristics. The
items of auto tune are shown as below:
◆ Gain: velocity loop gain, position loop gain and moment of inertia ratio
◆ Filter: torque command filter and notch filter
Important
Auto tune cannot be performed when tuneless function is enabled (Pt170.X = 1). Before
performing auto tune, please disable tuneless function (Pt170.X = 0) first.
Figure 6.2.1
Table 6.2.1
No.
Item
Description
(1)
Enable motor and JOG
Click Enable to move the motor away from hard stop with JOG mode.
Adjust JOG velocity via the drop-down menu.
(2)
Selection of tuning
mode
It is a drop-down menu for users to select “tune Inertia/Mass ratio only” or
“tune Inertia/Mass ratio, filters and loop gains”.
(3)
Selection of
mechanical property
It is a drop-down menu which provides three selections for stiffness (Soft /
Normal / Rigid).
(4)
Start auto tune
Click Start to start auto tune. To pause during the process, click Stop.
(1)
(2)
(3)
(4)