3.2 Operating Procedures for Utility Functions
3.2.29 Advanced Autotuning with Reference (Fn202)
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Utility Function
s
3.2.29
Advanced Autotuning with Reference
(Fn202)
You can use this utility function to automatically achieve optimum tuning
of the SERVOPACK in response to operation references (pulse train ref-
erences) from the host controller. This utility function is normally per-
formed to fine-tune the SERVOPACK after advanced autotuning of the
SERVOPACK has been performed.
If the moment of inertia ratio is set correctly in Pn103, this utility function
can be performed without performing advanced autotuning.
The following items are adjusted.
•
Gains (e.g., position loop gain and speed loop gain)
•
Filters (torque reference filter and notch filters)
•
Friction compensation
•
Anti-resonance control
•
Vibration suppression
Preparations
Always check the following before you perform advanced autotuning
with a reference input.
If the settings are not suitable,
NO-OP
will be displayed and advanced
autotuning will not be performed.
•
The servo must be in ready status.
•
There must be no overtravel.
•
The servo must be OFF.
•
Position control must be selected if the Servomotor power is ON (i.e.,
when the servo is ON).
•
The gain selection switch must be set to manual (Pn139 = n.
0).
•
Gain settings 1 must be selected.
•
The test without a motor function must be disabled (Pn00C =
n.
0).
•
There must be no warnings.
•
The parameters must not be write-prohibited (Fn010 must be set to
0000).
•
Tuning-less function must be disabled (Pn170 = n.
0).
For details, refer to the manual for your SERVOPACK.
