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6.2. Auto-gain tuning mode
The auto-gain tuning mode can calculate the load to motor inertia ratio instantaneously. With this
value, the optimum gain could be decided under the current mechanical condition. It is convenient to
execute the adjustment of gain value with the auto-gain tuning function.
(1) Auto-gain tuning mode 1
This mode is a default. If the PA02 is set as “0002h”, the load to motor inertia ratio would be
approximated continuously and the servo gain will be set automatically. The variable parameter for
users is only PA03 which the response setting related.
Auto-tuning response level setting
Load to motor inertia ratio
When the auto-gain tuning mode 1 is applied, some conditions must be met.
a. The acceleration time from 0rpm to 2000rpm or the deceleration time from 2000rpm to 0rpm
should be 2 seconds or less. If a 3000rpm case is applied, the acceleration and deceleration time
should be 3 seconds or less.
b. The speed command should be 250rpm or higher.
c. The load to motor inertia ratio should be 100 times or less.
d. A machinery system with a violent change of load inertia is not suitable.
e. Torque generated due to acceleration or deceleration should be the 10% or more of rated torque.
(2) Auto-gain tuning mode 2
When auto-gain tuning mode 1 could not calculate the accurate load to motor inertia ratio, the
auto-gain tuning mode 2 is recommended. The PA02 should be set as “0003h” to perform. During
the tuning process，the load to motor inertia ratio would not be approximated and the users have to
set the PB06 manually.
Auto-tuning response level setting
Load to motor inertia ratio
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