Sanyo SUPER BL P5 - Real Time Automatic Tuning

11. SPECIAL SERVO FUNCTION
11－5
(1) In case of Func = “Gain_Sel.”
When gain switch input is OFF, “Servo gain switch (3 SWs)” in the middle of figure 11-1 will be at
the position of “1”. The following parameters will be valid:
Position loop gain : Kp Mode0 – page0
Velocity loop proportional gain : Kvp Mode0 – page2
Velocity loop integral time constant : Tvi Mode0 – page3
Current command LPF : ILPF Mode0 – page6
When gain switch input is ON, “Servo gain switch (3 SWs)” in the middle of figure 11-1 will be at
the position of “2”. The following parameters will be valid:
Position loop gain : Kp2 Mode8 – page0
Velocity loop proportional gain : Kvp2 Mode8 – page1
Velocity loop integral time constant : Tvi2 Mode8 – page2
Current command LPF : ILPF Mode0 – page6
(2) In case of Func = “Gsel&Gtun”
When gain switch input is OFF, “Servo gain switch (3 SWs)” in the middle of figure 11-1 will be at
the position of “3” (real time automatic tuning is valid in this status). The following parameters will
be valid:
Position loop gain : Kp Mode0 – page0
Velocity loop proportional gain : Kvp Value of real time automatic tuning result
Velocity loop integral time constant : Tvi Value of real time automatic tuning result
Current command LPF : ILPF Value of real time automatic tuning result
When gain switch input is ON, “Servo gain switch (3 SWs)” in the middle of figure 11-1 will be at
the position of “2”. The following parameters will be valid:
Position loop gain : Kp2 Mode8 – page0
Velocity loop proportional gain : Kvp2 Mode8 – page1
Velocity loop integral time constant : Tvi2 Mode8 – page2
Current command LPF : ILPF Mode0 – page6
11.4 Real Time Automatic Tuning
The "PY2" Servo Amplifier has “real time automatic tuning“ function that estimates proper gain by
driving motor operation and changes servo gain in real time. With large device of inertia variation,
Motor can be operated at proper gain all the time.
11.4.1 Parameter setting
(1) Servo function select (Func: Mode4 page2)
Func setting Servo function
Normal Standard type
Gain_sel. Gain switch type
Gain_Tun. Real time automatic tuning type
Gsel&Gtun Gain switch & real time automatic tuning type
Real time automatic function will be valid when selecting “Gain_Tun.” or “Gsel&Gtun”