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6. PARAMETERS
(b) Conveyor setting example
Machine specifications
Pulley diameter: r
160 [mm]
Reduction ratio: n
1/3
Servo motor resolution: Pt
262144 [pulse/rev]
Servo motor
262144[pulse/rev]
r=160[mm]
n
NM
NL
n=NL/NM=1/3
CMX
CDV
p
t
S
32768
20944
167551.61
262144
p
t
262144
n r 1000
1/3 160 1000
Reduce CMX and CDV to the setting range or less, and round off the first decimal place.
Hence, set 32768 to CMX and 20944 to CDV.
6.1.9 Auto tuning
Parameter
No. Symbol Name
Initial
value
Unit Setting range
PA08 ATU Auto tuning mode 0001h Refer to the text.
PA09 RSP Auto tuning response 12 1 to 32
Make gain adjustment using auto tuning. Refer to section 9.2 for details.
(1) Auto tuning mode (parameter No.PA08)
Select the gain adjustment mode.
Gain adjustment mode setting
Parameter No.PA08
000
Setting Gain adjustment mode Automatically set parameter No. (Note)
Interpolation mode
Auto tuning mode 1
Auto tuning mode 2
Manual mode
0
1
2
3
PB06 PB08 PB09 PB10
PB06 PB07 PB08 PB09 PB10
PB07 PB08 PB09 PB10
Note. The parameters have the following names.
Parameter No. Name
PB06 Ratio of load inertia moment to servo motor inertia moment
PB07 Model loop gain
PB08 Position loop gain
PB09 Speed loop gain
PB10 Speed integral compensation