6. NORMAL GAIN ADJUSTMENT
6 - 12
6.3 Auto tuning
6.3.1 Auto tuning mode
The driver has a real-time auto tuning function which estimates the machine characteristic (load to motor
inertia ratio) in real time and automatically sets the optimum gains according to that value. This function
permits ease of gain adjustment of the driver.
(1) Auto tuning mode 1
The driver is factory-set to the auto tuning mode 1.
In this mode, the load to motor inertia ratio of a machine is always estimated to set the optimum gains
automatically.
The following parameters are automatically adjusted in the auto tuning mode 1.
Load to motor inertia ratio
Speed integral compensation
The auto tuning mode 1 may not be performed properly if all of the following
conditions are not satisfied.
The acceleration/deceleration time constant to reach 2000 r/min is 5 s or less.
Speed is 150 r/min or higher.
The load to servo motor inertia ratio is 100 times or less.
The acceleration/deceleration torque is 10% or more of the rated torque.
Under operating conditions which will impose sudden disturbance torque during
acceleration/deceleration or on a machine which is extremely loose, auto tuning
may not function properly, either. In such cases, use the auto tuning mode 2 or
manual mode to make gain adjustment.
(2) Auto tuning mode 2
Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1. Since
the load to motor inertia ratio is not estimated in this mode, set the value of a correct load to motor inertia
ratio in [Pr. PB06].
The following parameters are automatically adjusted in the auto tuning mode 2.
Speed integral compensation
To Next Page
Loading...
Need help?
General
