<Remarks>
• Pay extra attention to safety, when oscillation (abnormal noise and vibration) occurs, shut off the main
power, or turn to Servo-OFF.
Real-time auto-gain tuning
Fit-Gain function
Adaptive filter
Normal mode auto-gain tuning
Release of automatic gain
adjusting function
Manual gain tuning (basic)
Basic procedure
Gain switching function
Suppression of machine
resonance
Automatic gain setup function
Manual gain tuning (application)
Instantaneous speed observer
Damping control
P.228
P.250
Estimates the load inertia of the machine in real time, and auto-
matically sets up the optimum gain corresponding to this result.
Searches automatically the appropriate stiffness setup by en-
tering the certain action pattern repeatedly, to set up the stiff-
ness of real-time auto-gain tuning at position control.
Reduces the resonance vibration point by automatically setting
up the notch filter coefficient which removes the resonance
component from the torque command while estimating the res-
onance frequency from the vibrating component which appears
in the motor speed in actual operating condition.
Sets up the appropriate gain automatically by calculating the
load inertia from the torque required to run the motor in the
command pattern automatically created in the driver.
Describes the cautions when you invalidate the real-time auto-
gain tuning or adaptive filter which are defaults.
Execute the manual adjustment when real-time auto-gain tun-
ing cannot be executed due to the limitation of control mode
and load condition, or when you want to obtain an optimum re-
sponse depending on each load.
Adjustment of position control mode
Adjustment of velocity control mode
Adjustment of torque control mode
Adjustment of full-closed control mode
You can expect to reduce vibration at stopping and settling
time and to improve command compliance by switching the
gains by internal data or external signals.
When the machine stiffness is low, vibration or noise may be gen-
erated due to the distorted axis, hence you cannot set the higher
gain. You can suppress the resonance with two kinds of filter.
Initializes the control parameters and gain switching parameters
to the values corresponding to the automatic tuning stiffness
parameters, before executing the manual auto-gain tuning.
You can obtain the higher performance while you are not satis-
fied with the performance obtained with the basic adjustment,
using the following application functions.
Function which obtains both high response and reduction of vi-
bration at stopping by estimating the motor speed with the load
model, and hence improves the accuracy of speed detection.
Function which reduces vibration by removing the vibration fre-
quency component while the front end of the machine vibrates.
Function Explanation
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