11. SPECIAL SERVO FUNCTION
11－7
11.4.2 Operation when real time automatic tuning is valid
“Servo gain switch (3SWs)” in the middle of figure 11-1 will be at the position of “3”. Then proper gain
will be estimated according to the Servo Amplifier and Motor operational status, and servo gain will be
changed at real time. Changing servo gains are three kinds of velocity loop proportional gain, and
velocity loop integral time constant and current command LPF.
Servo gain when real time automatic tuning is valid is as follows:
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
The proper gain estimated by real time automatic tuning is used on RAM in the Servo Amplifier and is
not memorized in non-volatilize memory. Proper gain is estimated during Motor operation (over
certain value of acceleration/ declaration.) When no change on Motor speed, or servo OFF, the last
(past) estimated result will be invalid. However, the parameters memorized in non-volatile memory will
be valid in the following cases:
(1) 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”. 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
Even if gain switch input is ON status (during gain switching), proper gain estimation process would
be executed. Therefore, at the point of turning OFF the gain switch input, the latest proper gain
estimation result will be valid.
(2) When turning ON the Control power
In case of parameter setting which enables real time automatic tuning, “Servo gain switch (3 SWs)”
in the middle of figure 11-1 will be at the position of “3”. However, proper gain cannot be
estimated when turning ON the control power. And then the servo gain memorized in the
non-volatile memory will be valid instead
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
With Motor operation after servo ON, proper gain estimation will be started. After completing proper
gain estimation, servo gain will be changed.
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