8 Adjustments
8.4.1 One-parameter Autotuning
8-18
8.4 One-parameter Autotuning
8.4.1 One-parameter Autotuning
One-parameter autotuning enables the four servo gains (Kv, Ti, Kp, Tf) to be set to regulatory stable conditions
merely by manipulating one autotuning level. One-parameter autotuning is executed using utility function Fn01A
(One-parameter Tuning).
The autotuning level is increased and decreased between 1 and 2,000 during operation to simultaneously change
the Speed Loop Gain (Pn100: Kv), Speed Loop Integral Time Constant (Pn101: Ti), Position Loop Gain (Pn102:
Kp), and 1st Step 1st Torque Reference Filter Time Constant (Pn401: Tf). These gains are changed to satisfy
relationships determined by the autotuning mode. Vibration may occur during one-parameter autotuning, so set
vibration detection in Pn310 to an alarm (n.2) or warning (n.1).
8.4.2 One-parameter Autotuning Procedure
The following procedure is used for one-parameter autotuning.
Press the Key, and the values of each gain before
tuning are displayed.
Press the Key.
The tuning level change screen appears.
Level (tuning level) setting range: 1 Hz to 2000 Hz
RUN -OnePrmTun-
Level = 0040
RUN -FUNCTION-
Fn019
Fn01A
Fn01B
Fn01C
RUN -OnePrmTun-
Setting
Tuning Mode = 0
RUN -OnePrmTun-
Setting
Tuning Mode = 1
RUN -OnePrmTun-
Pn100 = 0040.0
Pn101 = 020.00
Pn102 = 0040.0
Pn401 = 001.00
Operation Key DescriptionDisplay
Display the main menu of the utility function mode, and select
Fn01A.
Tuning Mode (Tuning settings selection)
0: To set the servo gains for stability by changing Kp, Kv, Ti, and Tf
1: To set the servo gains for high responsiveness by changing Kp, Kv, Ti, and Tf
Press the Key.
The Fn01A setting basic (OnePrmTun) screen appears.
∗If the screen does not change and NO-OP is displayed as the
status, the write prohibited password is set in Fn010.
Check the status and cancel the password.
To select the tuning mode, press the or Key.
To Next Page
Loading...
Need help?
General
