Inovance SV660N - Page 28

STEP 1 - Self-Adjustment mode (Firmware version H01-00<903.0 H02-00=0):
H09-00
Application
Affected
parameters
Speed
Feedforward
Gain
switchover
Inertia
auto-
tuning
Resonance
suppression
Model
Tracking
Function
Disturbance
Observer
Notch
Filter
PDFF
0
Manual mode
Manual gain tuning is needed.
None
Can be
configured
NO
NO
NO
NO
NO
NO
1
Standard
stiffness level
mode
Gain auto-tuning is performed
based on the set stiffness level.
Allows the feedforward gains
manual modification.
H07-05
H08-00
H08-01
H08-02
Can be
configured
NO
NO
NO
NO
NO
NO
NO
2
Positioning
mode
Gain auto-tuning is performed
based on the set stiffness level. This
mode is applicable to occasions
requiring quick positioning.
Allows the feedforward gains
manual modification.
H07-05
H07-06
H08-00
H08-01
H08-02
H08-03
H08-04
H08-05
Can be
configured
YES
H08-10
NO
NO
NO
NO
NO
NO
3
Interpolation
mode
Applied in trajectory control, such
as CNC, gantry synchronization,
electronic cam / gear.
• high stability requirements
• medium response requirements
• low overshoot
Can be
configured
NO
YES
(10
min.)
H09-03 =
2
YES (10 min.)
H09-11
H09-37
NO
NO
YES
H09-
02=3
NO
4
Normal mode
General positioning (default value).
Applied to general positioning
control, automatic identification of
load inertia.
• high stability requirements
• low response requirements
• no overshoot
Can be
configured
NO
YES
(10
min.)
H09-03 =
2
YES (10 min.)
H09-11
H09-37
NO
NO
YES
H09-
02=3
NO
6
Fast
positioning
mode
Applied to short travel and high
speed positioning control. Model-
Tracking algorithm is added to
realize positioning within 10ms,
with small inertia adaptation range.
• medium stability requirements
• fast response requirements
• some overshoot
H07-05
H08-00
H08-01
H08-02
H08-43
H08-46
CANNOT be
configured
NO
YES
(10
min.)
H09-03 =
2
YES (10 min.)
H09-11
H09-37
YES
H08-42=1
NO
YES
H09-
02=3
NO