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Chapter 6 Control Modes of Operation
Explanation of manual mode:
1. When P2-32 is set to mode#0, the setting value of P2-00, P2-02, P2-04, P2-06,
Explanation of auto-tuning mode:
The servo drive will continuously estimate the system inertia, save the measured
load inertia value automatically and memorized in P1-37 every 30 minutes by
referring to the frequency response settings of P2-31.
1. When switching mode #1 or #2 to #0, the servo drive will continuously estimate
2. When switching mode#0 or #1 to #2, enter the appropriate load inertia value in
3. When switching mode#1 to #0, the setting value of P2-00, P2-04 and P2-06 will
Explanation of semi-auto tuning mode:
1. When switching mode #2 to #0, the setting value of P2-00, P2-04, P2-06, P2-25
2. After the system inertia becomes stable (The displau of P2-33 will show 1), it
3. When the value of the system inertia becomes over high, the display of P2-33
Manual Mode
When Tuning Mode Settings of P2-32 is set to 0, the users can define the proportional
speed loop gain (P2-04), speed integral gain (P2-06) feed forward gain (P2-07) and ratio of
load inertia to servo motor Inertia (1-37). Please refer to the following description:
Proportional gain: Adjust this gain can increase the position loop responsiveness.
Integral gain: Adjust this gain can enhance the low-frequency stiffness of speed
loop and eliminate the steady error. Also, reduce the value of phase margin. Over
high integral gain will result in the unstable servo system.
Feed forward gain: Adjust this gain can decrease the phase delay error
6-32
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P2-07, P2-25 and P2-26 can be user-defined. When switching mode #1 or #2 to
#0, the setting value of P2-00, P2-02, P2-04, P2-06, P2-07, P2-25 and P2-26 will
change to the value that measured in #1 auto-tuning mode or #2 semi-auto
tuning mode.
the system inertia, save the measured load inertia value automatically and
memorized in P1-37. Then, set the corresponding parameters according to this
measured load inertia value.
P1-37.
change to the value that measured in #1 auto-tuning mode.
and P2-26 will change to the value that measured in #1 auto-tuning mode.
will stop estimating the system inertia, save the measured load inertia value
automatically, and memorized in P1-37. However, when P2-32 is set to mode#1
or #2, the servo drive will continuously perform the adjustment for a period of
time.
will show 0 and the servo drive will start to adjust the load inertia value
continuously.
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Revision January 2011
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