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Operation of auto tuning mode 1
The block diagram of the auto tuning mode 1 is shown below.
Automatic setting
Command
Control gain
+
PG1, PG2,
-
VG2, VIC
Real-time auto tuning section
Gain table
[Pr. PA08.0 Gain
adjustment mode
selection]
When a servo motor is accelerated/decelerated, the load to motor inertia ratio estimation section always estimates the load to
motor inertia ratio from the current and speed of the servo motor. The results of estimation are written to [Pr. PB06 Load to
motor inertia ratio/load to motor mass ratio]. These results can be confirmed on the status display screen of the MR
Configurator2.
If the value of the load to motor inertia ratio is known in advance or the estimation has failed, set [Pr. PA08.0 Gain adjustment
mode selection] to "2" (Auto tuning mode 2), and after stopping the estimation of the load inertia moment ratio, set the load to
motor inertia ratio ([Pr. PB06]) manually.
The auto tuning results are saved in the non-volatile memory of the servo amplifier every 10 minutes since power-on. At
power-on, the auto tuning is performed with the value of each control gain saved in the non-volatile memory as an initial value.
The servo parameters that are automatically adjusted in the auto tuning mode 1 are shown in the table below.
Servo parameter
PB06
PB07
PB08
PB09
PB10
3.4
Auto tuning mode 2
Use the auto tuning mode 2 when normal gain adjustment cannot be made by the auto tuning mode 1. Since the load to motor
inertia ratio is not estimated in this mode, set a correct value of the load to motor inertia ratio in [Pr. PB06]. This mode is the
optimum adjustment method for adjusting with the response waveform being checked while the load to motor inertia ratio is
known or if gain adjustment by the auto tuning mode 1 cannot be executed properly.
Precautions on auto tuning mode 2
When the auto tuning mode 2 is changed to the manual mode, the current control gains and load to motor inertia ratio
estimation value are saved in the non-volatile memory.
Adjustment procedure by auto tuning mode 2
Refer to the following.
Page 38 Adjustment procedure by auto tuning mode 1
+
Current
-
control
Current feedback
Load to motor
inertia ratio
estimation section
[Pr. PB06 Load to motor
inertia ratio/load to
motor mass ratio]
Symbol
Name
GD2
Load to motor inertia ratio/load to motor mass ratio
PG1
Model control gain
PG2
Position control gain
VG2
Speed control gain
VIC
Speed integral compensation
Load moment of inertia
Encoder
M
Servo motor
Position/speed
feedback
Speed feedback
3 ADJUSTMENT METHOD
41
3.4 Auto tuning mode 2
3
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