Filter
Top Products
16 - 75
16. INDEXER POSITIONING OPERATION
(7) 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.
(a) 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
(b) Auto tuning response (parameter No.PA09)
If the machine hunts or generates large gear sound, decrease the set value. To improve performance,
e.g. shorten the settling time, increase the set value.
Setting Response
Guideline for machine
resonance frequency [Hz]
Setting Response
Guideline for machine
resonance frequency [Hz]
1 Low response 10.0 17 Low response 67.1
2 11.3 18 75.6
3 12.7 19 85.2
4 14.3 20 95.9
5 16.1 21 108.0
6 18.1 22 121.7
7 20.4 23 137.1
8 23.0 24 154.4
9 25.9 25 173.9
10 29.2 26 195.9
11 32.9 27 220.6
12 37.0 28 248.5
13 41.7 29 279.9
14 47.0 30 315.3
15
52.9 31
355.1
16 Middle response 59.6 32 Middle response 400.0