4-56
• If 0 (function ON) is set, set Pn111 (speed feedback compensating gain).
Note If using online auto-tuning, set this parameter to 1 (function OFF). If using speed feedback com-
pensation function, online auto-tuning is disabled.
Pn110.2 Online auto-tuning function –– Adhesive friction compensation function selection (Position,
speed, internally-set speed control)
Setting
range
0 to 2 Unit --- Default
setting
0 Restart
power?
Yes
Setting Explanation
Setting Explanation
0 Friction compensation: None (when adhesive friction for rated revolutions is 10% max. of
rated torque)
1 Friction compensation: Rated torque ratio: Small (when adhesive friction for rated rotation
speed is 10% to 30% of rated torque)
2 Friction compensation: Rated torque ratio: Large (when adhesive friction for rated rotation
speed is 30% to 50% of rated torque)
• When calculating load inertia using online auto-tuning, set whether the effects of adhesive friction (load
torque proportional to rotation speed) on the servo system should be considered.
• If
adhesive friction is to be considered, set whether the adhesive friction is large or small to improve the
accuracy of the load inertia calculations.
Note If the
adhesive friction on the rated rotation speed is 10% max. of the rated torque, set this parame-
ter to 0 (No friction compensation).
Pn110.3 Online auto-tuning setting –– Not used.
Setting
range
--- Unit --- Default
setting
0 Restart
power?
No
Note Do not change the setting.
Pn111 Speed feedback compensating gain (Position, speed, internally-set speed control)
Setting
range
1 to 500 Unit % Default
setting
100 Restart
power?
No
• Use this parameter to adjust the speed loop feedback gain for when Pn110.1 (speed feedback com-
pensation function selection) is set to ON.
• The smaller the setting, the higher you can raise the speed loop gain and position loop gain. If the
setting is too small, however, responses may be unstable.
Note 1. Correctly set Pn103 (inertia ratio), perform the usual manual adjustment, then adjust the
speed feedback compensation. After manual adjustment, manually readjust the setting to
approximately 90%. Then, readjust repeatedly while gradually reducing the setting to find the
optimum setting.
Note 2. If using speed feedback compensation function, online auto-tuning is disabled.
Note 3. Refer to 4-8-8 Speed Feedback Compensation for details.
D Unused Gain Parameters (Pn 112 to Pn123)
Note Do not change the settings of the following parameters.
Operation Chapter 4
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