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6.3.2 Machine Rigidity Settings for Online Autotuning
INFO
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For the machine rigidity settings at the time of online autotuning, select the target values for
speed loop gain and position loop gain of the servo system. Any of the following ten levels of
rigidity can be selected.
Rigidity
Position Loop
Setting
Gain
- -1
Fn001
[S
Pn102
1
15
2
20
3
30
4
40
5
60
6
85
7
120
8
160
9
200
10
250
Note The Rigidity value is factory-set to 4.
As the rigidity value is increased, the servo system loop gain increases and the time required for
positioning is shortened. If the rigidity is excessively high, however, it may cause the machinery
to vibrate. In that case, decrease the set value.
The rigidity value setting automatically changes the user constants in the above table.
If user constants Pn102, Pn100, Pn101, and Pn401 are set manually with the online autotuning function en-
abled, tuning is performed with the manually set values as target values.
J J Changing the Rigidity Setting
Use user constant Fn001 in the auxiliary function mode to change the rigidity setting.
The procedure for changing the setting is as follows:
Using the Hand-held Digital Operator
1. Press the DSPL/SET Key and select Fn001 in the auxiliary function mode.
2. Press the DATA/ENTER Key. The following data will be displayed.
Speed Loop Gain
[Hz]
]
Pn100
15
20
30
40
60
85
120
160
200
250
6 -19
6.3 Autotuning
Speed Loop
Torque Reference
Integral Time
Filter Time
Constant
Constant
[0.01ms]
[0.01ms]
Pn101
Pn401
6000
250
4500
200
3000
130
2000
100
1500
70
1000
50
800
30
600
20
500
15
400
10
6
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