level of control stiffness from 0 to31 determines the bandwidth
(BW) of the velocity loop and the position loop (see table 4-5).
The larger the value, the greater the stiffness. If this parameter is
too large, the gain will change excessively and the machine will
become unstable.
When setting tn01 via the up and down buttons on the panel,
entered
values are valid immediately, in order to ensure the
input of small change steps
Ratio of total inertia and motor inertia (unit: 0.1) for example 30
represent an inertia ratio of 3.
This value becomes defaulted by the EASY procedure and
measured by the inertia measuring function in the tunE menu
(tn03).
When setting tn02 by the panel up down buttons, the data will
be valid immediately, to ensure the input of small change
steps.
Writing 1 starts auto-tuning inertia measurement. The
controller is enabled and the motor executes an oscillating
motion for less than 1s.
If tuning is successful, Tuning Method indicates a value of 1.
The measured inertia is used to determine the Inertia Ratio.
Stiffness is set to 4 to 12 depending on the inertia ratio. The
control loop parameters are set according to Stiffness and
Inertia Ratio.
If the inertia measurement fails, Tuning Method indicates the
fail-reason:
0: The controller could not be enabled by any reason.
-1: Inertia cannot be measured due to too little motion or too
little current.
-2: The measured inertia result is outside the valid range.
-3: The resulting Inertia Ratio value is greater than 250 (inertia
ratio >
25). This is a possible result, but the control loop will not be
tuned.
-4: The resulting Inertia Ratio value is larger than 500 (inertia
ratio > 50). This is an uncertain result.
In the cases 0, -1, -2, -4 Inertia Ratio is set to 30, in the case -3
Inertia Ratio is set as measured, Stiffness is set to 7-10
In any fail case the control loop parameters are set to Inertia
Ratio of 30 and the set Stiffness values. To make the measured
Inertia Ratio of case -3 become effective, the value of tn02
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