E1 Series Servo Drive User Manual Table Of Contents
8.16.1 Full-closed loop control ······························································································· 8-80
8.16.2 Operating procedure of full-closed loop control ································································ 8-82
8.16.3 Parameter settings for full-closed loop control ································································· 8-83
8.16.4 Control block diagram for full-closed loop control······························································ 8-84
8.16.5 Setting motor rotation direction and load moving direction ·················································· 8-84
8.16.6 Related settings of unit conversion ················································································ 8-85
8.16.7 Encoder output resolution in full-closed loop control ·························································· 8-87
8.16.8 Electronic gear ratio setting in full-closed loop control ························································ 8-87
8.16.9 Alarm detection setting for full-closed loop control ···························································· 8-87
8.16.10 Setting analog monitor signal for full-closed loop control ·················································· 8-88
8.16.11 Selecting feedback velocity in full-closed loop control ······················································ 8-89
9. Trial operation when connected to controller ··················································································· 9-1
9.1 Trial operation with controller ································································································· 9-2
9.2 Trial operation for position mode ····························································································· 9-3
9.2.1 Operating procedure ······································································································ 9-3
9.3 Trial operation for velocity mode ····························································································· 9-7
9.3.1 Operating procedure ······································································································ 9-7
9.4 Trial operation for torque mode ······························································································· 9-8
9.4.1 Operating procedure ······································································································ 9-8
9.5 Trial operation when connected to mechanism ········································································· 9-10
9.5.1 Precautions ··············································································································· 9-10
9.5.2 Operating procedure ···································································································· 9-11
10. Tuning ································································································································· 10-1
10.1 Tuning overview and function ····························································································· 10-2
10.1.1 Flow chart for tuning ·································································································· 10-2
10.1.2 Tuning functions ······································································································· 10-3
10.2 Precautions during tuning ·································································································· 10-3
10.2.1 Overtravel setting ······································································································ 10-4
10.2.2 Torque limit setting ···································································································· 10-4
10.2.3 Setting alarm value for overflow position deviation ···························································· 10-4
10.3 Tuneless function············································································································· 10-6
10.3.1 Operating procedure ·································································································· 10-6
10.3.2 Setting tuneless function ····························································································· 10-7
10.3.3 Alarm and corrective action ························································································· 10-7
10.3.4 Ineffective parameters while executing tuneless function ··················································· 10-8
10.3.5 Related parameters of tuneless function ········································································· 10-8
10.4 Auto tuning ····················································································································· 10-8
10.4.1 Overview ················································································································· 10-8
10.4.2 Precautions before executing auto tuning ······································································· 10-9
10.4.3 Causes and corrective actions for auto tuning failure······················································· 10-10
10.4.4 Related parameters of auto tuning ·············································································· 10-11
10.5 Adjusting application function ··························································································· 10-12
10.5.1 Setting current gain level ·························································································· 10-12
10.5.2 Selecting velocity detection method············································································· 10-12
10.5.3 P (proportional) control ····························································································· 10-13
10.6 Manual tuning ··············································································································· 10-14
10.6.1 Adjusting servo gains ······························································································· 10-14
10.6.2 Gain parameters ····································································································· 10-16
10.6.3 Torque command filter ····························································································· 10-17
10.6.4 Vibration suppression ······························································································· 10-24
10.6.5 Ripple compensation function ···················································································· 10-28
10.7 Common functions for tuning ···························································································· 10-29
10.7.1 Feedforward ·········································································································· 10-29
10.7.2 Torque feedforward and velocity feedforward ································································ 10-30
10.7.3 Position integration ·································································································· 10-33
10.7.4 P/PI mode switching selection ···················································································· 10-33
11. Monitoring ····························································································································· 11-1
11.1 Servo drive information ····································································································· 11-2
11.1.1 Monitoring servo drive information ················································································ 11-2
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