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(3) Auto tuning sequence
The flow of auto-gain tuning mode is presented below.
When auto-gain tuning mode is performed, the following conditions should be satisfied.
a. First, execute the acceleration/deceleration cyclic stroke; load to motor inertia ratio would be
approximated after 2~3 strokes. The new PB06 would be updated to EEPROM.
b. Auto-gain tuning mode 2 is applied when the PB06 is known. Under this mode, the estimation of
control gain would still compute.
c. With the settings of inertia ratio and response level, the servo drive would tune the optimum gains
during the acceleration/deceleration stroke. The result of gain tuning would be written into EEPROM
every 30 minutes. After power on, the saved value of the controller gain in the EEPROM would be
used as the initial value for the operation of auto-gain tuning mode.
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