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6. GENERAL GAIN ADJUSTMENT
6.3.2 Auto tuning mode 1 basis
The function block diagram of real-time auto tuning is shown below.
Loop gains
PG1,PG2,VG2
VIC
Current
control
Estimation section of
load to motor inertia
moment ratio
Gain
table
Parameter No. PB06
Estimation value of
load to motor inertia
moment ratio
Response
setting
Tuning mode
setting
Parameter No. PA08
Real-time auto
tuning section
Set 0 or 1 to turn on.
Switch
Current feedback
Position/speed
feedback
Speed feedback
Load to motor inertia
moment
Encoder
Command
Automatic setting
Parameter No. PA09
00
M
Servo motor
When a servo motor is accelerated/decelerated, the load to motor inertia moment ratio estimation section
always estimates the load to motor inertia moment ratio from the current and the speed of the servo motor. The
results of estimation are written to parameter No. PB06 (load to motor inertia moment ratio). These results can
be confirmed on the status display screen of the MR Configurator section.
If the value of the load to motor inertia moment ratio is already known or if the estimation cannot be made
properly, select "manual mode" by setting parameter No. PA08 to "003" (the switch in the above diagram turns
off) to stop the estimation of the load to motor inertia moment ratio. Then, set the load to motor inertia moment
ratio manually to parameter No. PB06.
From the preset load to motor inertia moment ratio (parameter No. PB06) value and response level (parameter
No. PA09), the optimum loop gains are automatically set on the basis of the internal gain tale.
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 the operation, the estimation
of the load to motor inertia moment ratio may malfunction temporarily. In such
a case, select the "manual mode" (parameter No. PA08: 003) and set the
correct load to motor inertia moment ratio in parameter No. PB06.
When any of the auto tuning mode 1 and 2-gain adjustment mode settings is
changed to the manual mode setting, the current loop gains and load to motor
inertia moment ratio estimation value are saved in the EEP-ROM.
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