5-22
2. Real-Time Auto-Gain Tuning
Two-degree-of-freedom control mode – Synchronous type
Parameters set/changed by real-time auto-gain tuning
• Parameters which are updated
The real-time auto-tuning function updates the following parameters according to
Pr0.02 Real-time auto-tuning setup by using the load characteristic estimate values.
Class No.
Title Function
0 04 Inertia ratio
In the synchronous mode (Pr0.02 = 1),
synchronous friction compensation mode
(Pr0.02 = 2) and load characteristic update
mode (Pr0.02 = 4), this parameter will be
updated.
6 08
Positive direction torque compen-
sation value
In the synchronous friction compensation
mode (Pr0.02 = 2) and load characteristic
update mode (Pr0.02 = 4), this parameter
will be updated.
6 09
Negative direction torque compen-
sation value
6 50 Viscous friction compensation gain
•
Parameters which are updated to setup value corresponding to stiffness setup
The real-time auto-tuning function updates the following basic gain setup parameters
according to Pr0.03 Real-time auto-tuning stiffness setup.
Class No.
Title Function
1 00 1st gain of position loop
When real-time auto-tuning is valid (Pr0.02
= 1-4), updates the setup value according to
the stiffness.
Refer to P.5-9 Basic gain parameter setup
table.
1 01 1st gain of velocity loop
1 02
1st time constant of velocity loop
integration
1 04 1st time constant of torque lter
1 05 2nd gain of position loop
1 06 2nd gain of velocity loop
1 07
2nd time constant of velocity loop
integration
1 09 2nd time constant of torque lter
6 48 Adjust lter
In the synchronous mode, synchronous
friction compensation mode and stiffness
setup mode (Pr0.02 = 1-3), the setting will
be updated according to stiffness.
• Parameters which are set to fixed value
The real-time auto-tuning function sets the following parameters to fixed values or
uses the current setup values.
Class No.
Title
Setup value when fixed parameter
setup is valid.
1 03 1st lter of speed detection
0
1 08 2nd lter of speed detection
1 10 Velocity feed forward gain 1000 (100 %)
1 11 Velocity feed forward lter 0
1 12 Torque feed forward gain 1000 (100 %)
1 13 Torque feed forward lter 0
2 22 Command smoothing lter Holds the current setup value.
*
1
6 07 Torque command additional value 0
6 10 Function expansion setup bit4=1
6 49 Adjust/Torque command attenuation term
Tens digit set as 1 and ones digit is
kept as is.
*
1
If noise generates, change the setting to appropriate value (e.g. 3 ms = setup value: 30).
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