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Sigma II User's Manual
6.3
Auto-Tuning
If positioning is taking a long time, the speed loop gain or position loop gain of the servo
system may not be set properly. If the gain settings are wrong, set them properly in accor-
dance with the configuration and rigidity of the machinery.
The servo amplifier incorporates an online auto-tuning function, which checks the charac-
teristics of the machinery automatically and makes the necessary servo gain adjustments.
The function is easy to use and makes it possible for even beginners to perform servo gain
tuning and set all servo gains as parameters.
The following parameters can be set automatically by using the online auto-tuning func-
tion.
Pn100
Pn101
Pn102
Pn401
6.3.1
Online Auto-Tuning
Online auto-tuning is a control function which enables the servo amplifier to check
changes in the load inertia during operation in order to maintain the target value for
speed loop gain or position loop gain.
Online auto-tuning may not work well in the following cases.
•
When the cycle for load inertia change is 200ms or shorter (when the load
changes rapidly).
•
When the application has slow acceleration or deceleration using the soft start
function, and the speed error of the Servomotor being driven is small.
•
When adjusting the servomotor manually and operating at low gain (a machine
rigidity of 1 or less).
Autotuning
The characteristics of the machinery
are checked automatically for optimum
tuning.
Servomotor
Servo amplifier
Parameter
Speed loop gain
Speed loop integral time constant
Position loop gain
Torque reference filter time constant
6-17
Chapter 6: Servo Adjustment
Load inertia
Friction
Description
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