6. NORMAL GAIN ADJUSTMENT
6 - 15
6.3.2 Auto tuning mode basis
The block diagram of real-time auto tuning is shown below.
ᓮࠥࠗࡦ
PG1㧘PG2㧘
VG2㧘VIC
㔚ᵹᓮ
⽶⩄ᘠᕈ
ࡕࡔࡦ࠻Ყ
ផቯㇱ
ࠥࠗࡦ
࠹ࡉ࡞
[Pr.PB06 ⽶⩄
ᘠᕈࡕࡔࡦ࠻Ყ/
⽶⩄⾰㊂Ყ]
ᔕ╵ᕈ⸳ቯࠥࠗࡦ⺞ᢛࡕ࠼ㆬᛯ
[Pr.PA08]
ࠕ࡞࠲ࠗࡓ
ࠝ࠻࠴ࡘ࠾ࡦࠣㇱ
0߹ߚߪ1ߢࠝࡦ
ࠬࠗ࠶࠴
㔚ᵹࡈࠖ࠼ࡃ࠶ࠢ
⟎ㅦᐲ
ࡈࠖ࠼ࡃ࠶ࠢ
ㅦᐲࡈࠖ࠼ࡃ࠶ࠢ
⽶⩄ᘠᕈ
ࡕࡔࡦ࠻
ࠛࡦࠦ࠳
ᜰ
⥄േ⸳ቯ
[Pr.PA09]
M
ࠨࡏࡕ࠲
000
When a servo motor is accelerated/decelerated, the moment of inertia ratio estimation section always
estimates the load to motor inertia ratio from the current and speed of the servo motor. The results of
estimation are written to [Pr. PB06 Load to motor inertia ratio]. These results can be confirmed on the status
display screen of the MR Configurator2.
If the value of the load to motor inertia ratio is already known or if estimation cannot be made properly, set
"Gain adjustment mode selection" to " Auto tuning mode 2 (0 0 0 2)" in [Pr. PA08] to stop the estimation
(turning off the switch in above diagram), and set the load to motor inertia ratio ([Pr. PB06]) manually.
From the preset load to motor inertia ratio [Pr. PB06]) value and response )[Pr. PA09]), the optimum loop
gains are automatically set on the basis of the internal gain table.
The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since power-on.
At power-on, auto tuning is performed with the value of each loop gain saved in the EEP-ROM being used
as an initial value.
POINT
If sudden disturbance torque is imposed during operation, the load to motor
inertia ratio may be misestimated temporarily. In such a case, set "Gain
adjustment mode selection" to "Auto tuning mode 2 (0 0 0 2)" in [Pr. PA08] and
then set the correct load to motor inertia ratio in [Pr. PB06].
When any of the auto tuning mode 1 and auto tuning mode settings is changed
to the manual mode 2 setting, the current loop gains and load to motor inertia
ratio estimation value are saved in the EEP-ROM.
Loop gain
Command
utomatic setting
Current
control
Encoder
Load moment
of inertia
Servo motorCurrent feedback
Real-time auto tuning
section
Set 0 or 1 to turn on.
Gain table
Load to motor
inertia ratio
estimation
Switch
Position/speed
feedback
Speed feedback
[Pr. PB06 Load to motor
inertia ratio/load to motor
mass ratio]
Response
level setting
Gain adjustment mode selection
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