8.6 Autotuning without Host Reference
8.6.1 Outline
8-24
8.6
Autotuning without Host Reference
This section describes autotuning without a host reference.
8.6.1
Outline
For autotuning without a host reference, operation is automatically performed by the SERVO-
PACK for round-trip (forward and reverse) operation to adjust for machine characteristics
during operation. A reference from the host controller is not used.
The following items are adjusted automatically.
• Moment of inertia ratio
• Gains (e.g., speed loop gain and position loop gain)
• Filters (torque reference filter and notch filters)
• Friction compensation
• Anti-resonance control
• Vibration suppression (only for mode 2 or 3)
Refer to the following section for details on the parameters that are adjusted.
8.6.7 Related Parameters on page 8-34
The Servomotor is operated with the following specifications.
• Autotuning without a host reference performs adjustments based on the setting of the speed
loop gain (Pn100). Therefore, precise adjustments cannot be made if there is vibration when
adjustments are started. Make adjustments after lowering the speed loop gain (Pn100) until
vibration is eliminated.
• You cannot execute autotuning without a host reference if the tuning-less function is enabled
(Pn170 = n.1 (default setting)). Disable the tuning-less function (Pn170 = n.0)
before you execute autotuning without a host reference.
• If you change the machine load conditions or drive system after you execute autotuning with-
out a host reference and then you execute autotuning without a host reference with moment of
inertia estimation specified, use the following parameter settings. If you execute autotuning
without a host reference for any other conditions, the machine may vibrate and may be dam-
aged.
Pn140 = n.0 (Do not use model following control.)
Pn160 = n.0 (Do not use anti-resonance control.)
Pn408 = n.000 (Disable friction compensation, first stage notch filter, and second stage
notch filter.)
Note: If you are using the Digital Operator and the above parameters are not displayed, change
the parameter display setting to display all parameters (Pn00B = n.1) and then turn
the power supply OFF and ON again.
Important
Maximum speed
Rated motor speed ×
Acceleration
Torqu e
Rated motor torque: Approx. 100%
Note: The acceleration torque depends on the setting of the influence of the moment of inertia ratio
(Pn103), machine friction, and external disturbance.
Travel Distance
Rotary Servomotors
You can set the desired travel distance. The default setting
is for a value equivalent to 3 Servomotor shaft rotations.
Direct Drive Servomotors
You can set the desired travel distance. The default setting
is for a value equivalent to 0.3 rotations.
Linear Servomotors
You can set the desired travel distance in increments of
1,000 reference units. (The default setting is for 90 mm.)
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