Auto Tuning; Conditions For Auto Tuning; Parameters Used For Auto Tuning - Fuji Electric Alpha7 VV User Manual

5.4 Auto Tuning

If satisfactory results are not obtained after easy tuning, perform "auto tuning." In this mode, the load
inertia ratio of the machine is always estimated, and optimum gain is automatically settled.

5.4.1 Conditions for Auto Tuning

Auto tuning may not function correctly if the following conditions are not satisfied.
 The load inertia ratio of the mechanical system is within 100 times of the servomotor.
 Required time to reach 2000 [r/min] is 5 [s] or shorter with the acceleration/deceleration time
constant.
 The motor rotation speed is 100 [r/min] or more.
 There is no substantial load fluctuation during operation or acceleration/deceleration.
 The friction force is not large and does not apply pressure.

5.4.2 Parameters Used for Auto Tuning

Parameters used for gain adjustment are listed in the table below.
No. Name
PA1_13 Tuning mode selection
PA1_14 Load inertia ratio
PA1_15 Auto tuning gain 1
PA1_16 Auto tuning gain 2
 During auto tuning, by adjusting PA1_15: auto tuning gain 1, other parameters are automatically
adjusted. The values are always updated.
 During semi-auto tuning, enter PA1_14: load interia ratio and by adjusting PA1_15: auto tuning gain
1 other parameter are automatically adjusted.
Values are fixed as far as the setting is left unchanged.
CHAPTER 5 SERVO ADJUSTMENT
Approximate reference value
0: Auto tuning
No need to enter
(automatically updated)
Refer to "5.4.3 Approximate Reference Value of Auto
Tuning Gain 1" for adjustment.
Enter when necessary.
1: Semi-auto tuning
Enter a stable estimated value
(or average value).
Auto Tuning
5
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