5-4
5
2. Real-Time Auto-Gain Tuning
Adjustment
Basic
Outline
The system estimates the load characteristics in real time, and automatically performs
basic gain setting and friction compensation by referring to stiffness parameter.
Applicable Range
Real time auto-gain tuning is applicable to all control modes.
Real-time auto-tuning condition
Control Mode
Specic real-time auto-tuning mode is selected according to the currently
active control mode. For details, refer to the description of Pr0.02 Real-
time auto-tuning setup.
Others
• Should be in servo-on condition
• Input signals such as the deviation counter clear and command input
inhibit, and parameters except for controls such as torque limit setup, are
correctly set, assuring that the motor can run smoothly.
Caution
Real-time auto-gain tuning may not be executed properly under the conditions described
in the table below. Under these conditions, change the load condition or operation pat-
tern, or start manual gain tuning (refer to P.5-27).
Conditions which obstruct real-time auto-gain tuning action
Load inertia
• The load is too small or large compared to the rotor inertia. (less than 3
times or more than 20 times).
• The load inertia changes too quickly.
Load
• The machine stiffness is extremely low.
• Nonlinear characteristics such as backlash exist.
Action
pattern
• The motor is running continuously at low speed of (100 [r/min] or lower.
• Acceleration/deceleration is slow (2000 [r/min] per 1[s] or low).
• Acceleration/deceleration torque is smaller than unbalanced weighted/
viscous friction torque.
• When the speed condition of 100 [r/min] or more and acceleration/
deceleration condition of 2000 [r/min] per 1 [s] are not maintained for
50 [ms].
Pos t on/
Ve oc ty
command
Pos t on/
Ve oc ty
contro
Servo dr ver
Load character st c
est mat on
Resonant frequency
measurement
Torque
command
Generat on
Notch
f ter
current
contro
Bas c ga n automat c
sett ng
Fr ct on torque
compensat on
Adapt ve
process
Torque
command
Motor
current
Motor
speed
Motor
Encoder
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