Real Time Automatic Tuning - Sanyo SUPER BL P5 Manual

11. SPECIAL SERVO FUNCTION
(1) In case of Func = "Gain_Sel."
When gain switch input is OFF, "Servo gain switch (3 SWs)" in the middle of figure 11-1 will be at
the position of "1". The following parameters will be valid:
Position loop gain
Velocity loop proportional gain
Velocity loop integral time constant : Tvi
Current command LPF
When gain switch input is ON, "Servo gain switch (3 SWs)" in the middle of figure 11-1 will be at
the position of "2". The following parameters will be valid:
Position loop gain
Velocity loop proportional gain
Velocity loop integral time constant : Tvi2
Current command LPF
(2) In case of Func = "Gsel&Gtun"
When gain switch input is OFF, "Servo gain switch (3 SWs)" in the middle of figure 11-1 will be at
the position of "3" (real time automatic tuning is valid in this status). The following parameters will
be valid:
Position loop gain
Velocity loop proportional gain
Velocity loop integral time constant : Tvi
Current command LPF
When gain switch input is ON, "Servo gain switch (3 SWs)" in the middle of figure 11-1 will be at
the position of "2". The following parameters will be valid:
Position loop gain
Velocity loop proportional gain
Velocity loop integral time constant : Tvi2
Current command LPF

11.4 Real Time Automatic Tuning

The "PY2" Servo Amplifier has "real time automatic tuning" function that estimates proper gain by
driving motor operation and changes servo gain in real time. With large device of inertia variation,
Motor can be operated at proper gain all the time.
11.4.1 Parameter setting
(1) Servo function select (Func: Mode4 page2)
Func setting
Normal
Gain_sel.
Gain_Tun.
Gsel&Gtun
Real time automatic function will be valid when selecting "Gain_Tun." or "Gsel&Gtun"
: Kp
: Kvp
: ILPF Mode0 – page6
: Kp2
: Kvp2 Mode8 – page1
: ILPF Mode0 – page6
: Kp
: Kvp
: ILPF Value of real time automatic tuning result
: Kp2
: Kvp2 Mode8 – page1
: ILPF Mode0 – page6
Servo function
Standard type
Gain switch type
Real time automatic tuning type
Gain switch & real time automatic tuning type
11－5
Mode0 – page0
Mode0 – page2
Mode0 – page3
Mode8 – page0
Mode8 – page2
Mode0 – page0
Value of real time automatic tuning result
Value of real time automatic tuning result
Mode8 – page0
Mode8 – page2