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5. PARAMETERS
5.1.9 Auto tuning
Parameter
Initial
value
Unit Setting range
No. Symbol Name
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
2
3
1
Setting
0
Manual mode
Automatically set parameter No. (Note)Gain adjustment mode
Interpolation mode
Auto tuning mode 1
Auto tuning mode 2
PB06 PB08 PB09 PB10
Parameter No. PA08
PB06 PB07 PB08 PB09 PB10
PB07 PB08 PB09 PB10
000
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
(2) 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 Middle 52.9 31 Middle 355.1
16 response 59.6 32 response 400.0