6-49
6-15 On-line tuning
On-line tuning instructions
On-line tuning is the function to obtain stability through auto-tuning regardless of the machine type or
load change status.When the On-line tuning function is enabled, the system will adjust automatically.
Notes
‧ The On-line tuning function is invalid under torque control mode.
‧ The On-line tuning function cannot be enabled when automatic gain tuning (Off-line tuning)
is executing.
‧ The maximum load inertia ratio that can be borne is 30 times. When the motor’s tolerable
load inertia ratio is exceeded, vibrations will be generated; at this time, reduce the system
rigidity selection (tn837.2 = H'□X□□).
‧ To ensure the safety while On-line tuning is operating, please execute it under the condition
where an emergency stop can be used at any time.
Functions that will become invalid when On-line tuning is effective
‧ P/PI control switch function (Cn015.0 = H'□□□X)
‧ Two-stage gain switch function (Cn015.1 = H'□□X□)
‧ Friction compensation control (tn841.0 = H'□□□X)
‧ Speed observer (tn838.0 = H'□□□X)
Parameters that will be adjusted automatically when On-line tuning is
effective
‧ Load inertia ratio Cn025
‧ Torque command filter Cn034
‧ Speed circuit gain Sn211
‧ Speed circuit integral time constant Sn212
‧ Position circuit gain Pn310
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