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6. GENERAL GAIN ADJUSTMENT
6.3 Auto tuning mode 1
6.3.1 Overview
The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load to
motor inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This
function permits ease of gain adjustment of the servo amplifier.
The servo amplifier is factory-set to the auto tuning mode 1.
In this mode, the load to motor inertia moment ratio of a machine is always estimated to set the optimum gains
automatically.
The following parameters are automatically adjusted in the auto tuning mode 1.
Parameter No. Abbreviation Name
PB06 GD2 Load to motor inertia moment ratio
PB07 PG1 Model loop gain
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation
POINT
The auto tuning mode 1 may not be performed properly if the following
conditions are not satisfied.
Time to reach 2000r/min is the acceleration/deceleration time constant of 5[s]
or less.
Speed is 150r/min or higher.
Load to motor inertia moment ratio is 100 times or less.
The acceleration/deceleration torque is 10% or more of the rated torque.
Under operating conditions which imposes sudden disturbance torque during
acceleration/deceleration or on a machine which is extremely loose, auto tuning
may not function properly, either. In such cases, use the one-touch tuning, the
2-gain adjustment mode, or the manual mode to make gain adjustment.
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