11. SPECIAL SERVO FUNCTION
11－8
(3) When alarm occurs
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, estimated gain cannot be
judged whether it is proper or not when alarm occurs. Therefore 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 resuming Motor operation after alarm status is cleared, proper gain estimation will be started.
After completing proper gain estimation, servo gain will be changed.
(4) When executing test mode
In case of parameter setting which enabling real time automatic tuning, “Servo gain switch (3 SWs)”
in the middle of figure 11-1 will be at the position of “3”. However, the servo gain memorized in the
non-volatile memory will be valid when executing test mode (JOG operation, offline automatic
tuning and automatic notch tuning).
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 resuming normal Motor operation after test mode, proper gain estimation will be started.
After completing proper gain estimation, servo gain will be changed.
11.4.3 Ofline automatic tuning and parameter setting of non-volatile memory
In real time automatic tuning, servo gain is estimated all the time by motor operation and changed in real
time. For this reason, even if the parameter that memorized in non-volatile memory (Kvp: Mode0-page2,
Tvi: Mode0-page3 and ILPF: Mode0-page6) is set in order to enable high response, it becomes hardly
effective. It is quite enough if velocity loop proportional gain (Kvp: Mode0-page2), velocity loop integral
time constant (Tvi: Mode0-page3) and current command LPF (ILPF: Mode0-page6), that would operate
stably against the set value of position loop gain (Kp: Mode0-page0), are set soon after turning on the
control power.
It is recommended to set the non-volatile memory (Kvp: Mode0-page2, Tvi: Mode0-page3 and ILPF:
Mode0-page6) to low in order for enabling real time automatic tuning setting.
Also, when setting non-volatile memory parameters by offline automatic tuning, low gain setting is
appropriate with the same reason above. It is recommended to select “low” of tuning mode and execute
offline automatic tuning. However, position loop gain will not be changed in real time automatic tuning.
Set according to the required response.
Servo gain estimation may no be executed appropriatetly due to “sudden load fluctuation”,
“large backlash”, “slow Motor acceleration/ deceleration” or so on.
In this case, do not use real time automatic tuning function.
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