Step Measurement Display Exam-
ples
Operation
4 The graph shows overshooting that
occurred when the feedforward level was
increased even more after step 3. In this
state, overshooting occurs, but the posi-
tioning settling time is shorter. Tuning is
completed if the specifications are met.
The tuning results are saved in the SER-
VOPACK. If overshooting occurs before
the specifications are met, repeat steps 3
and 4.
If vibration occurs before the overshooting
is eliminated, the vibration is suppressed
with the notch filters and anti-resonance
control.
5 - The tuning results are saved in the SER-
VOPACK.
9.9.8 Related Parameters
The following parameters are automatically adjusted or used as reference when you exe-
cute custom tuning.
Do not change the settings while custom tuning is being executed.
Parameter Name Automatic
Changes
Pn100 Speed Loop Gain Yes
Pn101 Speed Loop Integral Time Constant Yes
Pn102 Position Loop Gain Yes
Pn103 Moment of Inertia Ratio No
Pn121 Friction Compensation Gain Yes
Pn123 Friction Compensation Coefficient Yes
Pn124 Friction Compensation Frequency Correction No
Pn125 Friction Compensation Gain Correction Yes
Pn401 First Stage First Torque Reference Filter Time Constant Yes
Pn408 Torque-Related Function Selections Yes
Pn409 First Stage Notch Filter Frequency Yes
Pn40A First Stage Notch Filter Q Value Yes
Pn40C Second Stage Notch Filter Frequency Yes
Pn40D Second Stage Notch Filter Q Value Yes
Pn140 Model Following Control-Related Selections Yes
Pn141 Model Following Control Gain Yes
Pn142 Model Following Control Gain Correction Yes
Sigma-7 Series SERVOPACKs
Tuning
Custom Tuning > Related Parameters
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 364
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