115
[Connections and Settings in Internal Velocity Control Mode]
Connections and
Settings in Internal
Velocity Control Mode
Cautions
(1) After startup, immediately following a first Servo-ON or when you increase Pr22 (Machine stiffness at real time
auto tuning), you may have abnormal noise or oscillation before you identify load inertia or an adaptive filter is
stabilized. However, this doesn’t constitute abnormality if it disappears in no time. If oscillation or noise persists
over 3 reciprocating operations, you should take any of the following measures in any possible order:
1) Write into EEPROM parameters used during normal operation.
2) Decrease Pr22 (Machine stiffness at real time auto tuning).
3) Once set Pr21 (Real time auto tuning set-up) to 0 and disable an adaptive filter. Then, enable real time auto
tuning again (To disable inertia estimation/resetting of adaptive operation, or real time auto tuning, refer to
“Releasing Automatic Tuning Function” on Page 135).
4) Manually set a notch filter (Refer to “To Reduce Mechanical Resonance” on Page 140).
(2) In some cases, after abnormal noise or oscillation is generated, Pr20 (Inertia ratio) or Pr2F (Adaptive filter
frequency) may change to an extreme value. Even in such a case, you should take the measures described
above.
(3) Among results of real time auto gain tuning, Pr20 (Inertia ratio) and Pr2F (Adaptive filter frequency) are written
into EEPROM every 30 minutes. When you power ON again, auto tuning will be carried out using the data as an
initial value.
PrNo.
11
12
13
14
19
1A
1B
1C
20
Name
1st velocity loop gain
1st velocity loop integration time constant
1st speed detection filter
1st torque filter time constant
2nd velocity loop gain
2nd velocity loop integration time constant
2nd speed detection filter
2nd torque filter time constant
Inertia ratio
PrNo.
30 1
Name Setting
2nd gain action set-up
Parameters to be Set Automatically
The following parameters are tuned automatically. The following parameters are also set up to the following fixed values automatically.
<Remarks>
When real time auto tuning is enabled, you are not allowed to change any parameter to be automatically tuned.
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