5-15
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
• Parameters which are set in respons to gain switching setup
The real-time auto-tuning function sets the following parameters as the gain is
switched.
Class No.
Title Function
1 14 2nd gain setup
Sets to 1 if real-time auto-tuning is valid
(Pr0.02 = 1 to 4).
1 15 Mode of position control switching
Sets to 0 when in standard response
mode (Pr0.02 = 1); or to 7 when in quick
response mode 1 to 3 (Pr0.02 = 2 to 4).
1 16 Delay time of position control switching
Sets to 10 if real-time auto-tuning is valid
(Pr0.02 = 1 to 4).
1 17 Level of position control switching
Sets to 0 if real-time auto-tuning is valid
(Pr0.02 = 1 to 4).
1 18 Hysteresis at position control switching
1 19 Position gain switching time
Sets to 10 if real-time auto-tuning is valid
(Pr0.02 = 1 to 4).
1 20 Mode of velocity control switching
Sets to 0 if real-time auto-tuning is valid
(Pr0.02 = 1 to 4).
1 21 Delay time of velocity control switching
1 22 Level of velocity control switching
Sets to 10 if real-time auto-tuning is valid
(Pr0.02 = 1 to 4).
1 23 Hysteresis at velocity control switching
Sets to 0 if real-time auto-tuning is valid
(Pr0.02 = 1 to 4).
1 24 Mode of torque control switching
1 25 Delay time of torque control switching
Sets to 10 if real-time auto-tuning is valid
(Pr0.02 = 1 to 4).
1 26 Level of torque control switching
Sets to 0 if real-time auto-tuning is valid
(Pr0.02 = 1 to 4).
1 27 Hysteresis at torque control switching
6 05 Position 3rd gain valid time
Sets to 0 (invalid) when in standard
response mode or high speed response
mode 1 (Pr0.02 = 1, 2).
When in high speed response mode 2
or 3 (Pr0.02 = 3, 4), sets to Pr2.22 × 20
(max. value is limited to 10000).
6 06 Position 3rd gain scale factor
When in standard mode or high speed
response mode 1, (Pr0.02 = 1, 2), sets
to 100 (100 %). When in high speed
response mode 2 or 3, (Pr0.02 = 3, 4),
sets to 200 (200 %).
• Parameters which are always set to invalid
The following settings are always set to invalid when Pr0.02 Real-time auto-tuning
setup is not 0.
Class No.
Title Function
6 10 Function expansion setup
Instantaneous speed observer function enable bit (bit
0), disturbance observer function enable bit (bit 1)
and inertia ratio switching function enable bit (bit 3)
are internally disabled.
6 13 2nd Inertia ratio
Parameter setup can be changed, but inertia ration
switching function is disabled.
2. Real-Time Auto-Gain Tuning
Two-degree-of-freedom control mode – Standard type
Related page
• P.4-6 to P.4-85... “Details of parameter””
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