Operating Procedure; Disabled Functions And Parameters - Fuji Electric Alpha7 VV User Manual

CHAPTER 5 SERVO ADJUSTMENT

5.2.3 Operating Procedure

The tuningless function is used to automatically adjust internal servo amplifier parameters based on the
load condition, and therefore the function will remain ON continuously after the function is enabled.
There is generally no need to change or adjust parameter setting values, however, if vibrations or
oscillations occur during operation, or if unsatisfied with operation, the following parameter settings
should be specified.
No.
PA4_62 Tuningless level
PA4_63 Tuningless load
5
level
PA4_62: The tuning level parameter is used to set the servo response when using this function, and
the greater the value, the higher the response.
If vibrations or oscillations occur with the default value (setting value = 4), adjust this setting
to a smaller value.
PA4_63: The tuningless load level parameter selects the size of the load inertial moment.
If the load inertial moment is small, adjust this setting to a smaller value.
* Setting guideline
0 (light load): load inertial moment ratio = 3 times or less
3 (heavy load): load inertial moment ratio = 30 times or more

5.2.4 Disabled Functions and Parameters

If the tuningless function is enabled, the following functions and parameters will be disabled.
Furthermore, this function will be disabled if the control mode is torque control mode.
No.
PA1_13
PA1_14
PA1_15
PA1_16
PA1_61 to PA1_67
PA1_77 to PA1_86
When using this function, use with an operation pattern that does not involve torque
limiting. When using this function, auto tuning function (easy tuning and fine tuning) is
disabled.
5-4
Tuningless Function
Name
0 to 7
0: Low response to 7: high response
0 to 3
0: Light load to 3: heavy load
Tuning mode selection
Load inertia ratio
Auto tuning gain 1
Auto tuning gain 2
Second gain settings
Vibration suppressing control settings
Setting range
Name
Default value Change
4 Always
3 Always