– Autotuning without a host reference performs adjustments based on
the setting of the speed loop gain (Pn100). Therefore, precise adjust-
ments 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 auto-
tuning without a host reference.
– If you change the machine load conditions or drive system after you
execute autotuning without 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 auto-
tuning without a host reference for any other conditions, the machine
may vibrate and may be damaged.
Pn140 = n.
0 (Do not use model following control.)
Pn160 = n.
0 (Do not use anti-resonance control.)
Pn408 = n.00
0 (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.
9.7.2 Outline
For autotuning without a host reference, operation is automatically performed by the
SERVOPACK for round-trip (forward and reverse) operation to adjust for machine charac-
teristics during operation. A reference from the host controller is not used.
The following items are adjusted automatically.
n Moment of inertia ratio
n Gains (e.g., speed loop gain and position loop gain)
n Filters (torque reference filter and notch filters)
n Friction compensation
n Anti-resonance control
n Vibration suppression (only for mode 2 or 3)
Refer to the following section for details on the parameters that are adjusted.
Ä
Chap. 9.7.8 ‘Related Parameters’ page 337
The Servomotor is operated with the following specifications.
Maximum Speed Rated motor speed x 2/3
Acceleration Torque Rated motor torque: Approx. 100%
Note: The acceleration torque depends on the setting of the
moment of inertia ratio (Pn103), and the influences of 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.
Sigma-7 Series SERVOPACKs
Tuning
Autotuning without Host Reference > Outline
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 322
To Next Page
Loading...
