Fig 3.8 Autotuning Procedure - OE Max Controls CSDJ Plus User Manual

3.3 Autotuning
Generally, the gain of the servo drive is in proportion to the inertia. If the「Speed Loop
Proportion Gain」and 「Speed Loop Integration Gain」are not set correctly, position decision
may be slowed down.
Speed
CSDJ Plus Servo Drive has the [autotuning] function, which automatically finds the load inertia.
When autotuning, the gain shown below is automatically set with the load inertia as the base.
SEt-02 (Speed Loop Proportion Gain)
SEt-03 (Speed Loop Integration Gain)
SEt-04 (Position Loop Proportion Gain)
SEt-06 (1 Low Pass Filter Cutoff Frequency of Torque Command)
st
SEt-40 (1 Low Pass Filter Cutoff Frequency of Speed Command)
st
• Autotuning Procedure
Move the
middle of the area where
operation is possible.
Is 1 revolution
Yes
The load inertia is
No
Slow the
speed. (SEt-58 rad/s)
Autotuning by the operator.
(Operate in USr-02. Fig 6.34)
Before autotuning
Time
load to the
No
possible?
very large
Yes
load rotation

Fig 3.8 Autotuning Procedure

Chapter 3. Startup and Adjustment 3 - 13
After autotuning
Speed
Time
Lower the value of SEt-70.
(Setting value *0.1 revolution)
[RPM]=[rad/s] * 9.55
If the load inertia is large,
speed may be reduced.
If the inertia ratio is
large, the load may
move only in one
direction.