Pa1_15 Auto Tuning Gain 1 - Fuji Electric Alpha7 VV User Manual

CHAPTER 4 PARAMETER
 How to enter the ratio of inertia of load
(1) Entering the value monitored at keypad
Use the monitor mode
Enter the monitored value.
 If the value drifts, enter an average value.
If fluctuation is substantial and the ratio of the maximum to the minimum exceeds two, adopt
entry method (2).
(2) Entering the calculated value
4
Calculate the moment of inertia of load converted to the motor shaft and enter the ratio to the
moment of inertia of the motor. For the moment of inertia calculation method, refer to "CHAPTER
16 APPENDIXES"

PA1_15 Auto tuning gain 1

No.
15 Auto tuning gain 1
Specify the response of the servomotor of auto tuning, semi-auto tuning and interpolation control
modes.
This parameter adjusts the disturbance response. Increasing the parameter value shortens the
command following characteristic and positioning settling time, however, a too large value causes
vibration of the motor.
 Setting method
(1) Parameter entry with PC Loader and keypad (parameter setting mode)
After the parameter is established, the setting is updated.
(2) Entry using "auto tuning gain setting (Fn_11)" of keypad (test operation mode)
After the value is switched, the setting is updated at real time.
Approximate reference value
Mechanical configuration
(division by mechanism)
Large transfer machine
Arm robot
Belt mechanism
Ball screw + Belt mechanism
Mechanism directly coupled with
ball screw
 For details of tuning, refer to "CHAPTER 5 SERVO ADJUSTMENT."
4-20
Basic Parameters
on_14
Name
1 to 40 (in increments of 1)
of the keypad to monitor.
Setting range
Auto tuning gain 1
(approximate reference value)
1 to 10
5 to 20
10 to 25
15 to 30
20 to 40
Default
Change
value
12 Always