8.1 Overview and Flow of Tuning
8.1.1 Tuning Functions
8-5
8
T
uning
8.1.1
Tuning Functions
The following table provides an overview of the tuning functions.
Tuning Function
Outline
Applicable Con-
trol Methods
Reference
Tuning-less Function
This automatic adjustment function is designed to
enable stable operation without servo tuning. This
function can be used to obtain a stable response
regardless of the type of machine or changes in the
load. You can use it with the default settings.
Speed control or
position control
Moment of Inertia
Estimation
The moment of inertia ratio is calculated by operat-
ing the Servomotor a few times.
The moment of inertia ratio that is calculated here
is used in other tuning functions.
Speed control,
position control,
or torque control
Autotuning without
Host Reference
The following parameters are automatically
adjusted in the internal references in the SERVO-
PACK during automatic operation.
•
Gains (e.g., position loop gain and speed loop
gain)
•
Filters (torque reference filter and notch filters)
•
Friction compensation
•
Anti-resonance control
•
Vibration suppression
Speed control or
position control
Autotuning with Host
Reference
The following parameters are automatically
adjusted with the position reference input from the
host controller while the machine is in operation.
You can use this function for fine-tuning after you
perform autotuning without a host reference.
•
Gains (e.g., position loop gain and speed loop
gain)
•
Filters (torque reference filter and notch filters)
•
Friction compensation
•
Anti-resonance control
•
Vibration suppression
Position control
Custom Tuning
The following parameters are adjusted with the
position reference or speed reference input from
the host controller while the machine is in opera-
tion.
•
Gains (e.g., position loop gain and speed loop
gain)
•
Filters (torque reference filter and notch filters)
•
Friction compensation
•
Anti-resonance control
Speed control or
position control
Anti-resonance
Control Adjustment
This function effectively suppresses continuous
vibration.
Speed control or
position control
Vibration
Suppression
This function effectively suppresses residual vibra-
tion if it occurs when positioning.
Position control
Speed Ripple Com-
pensation
This function reduces the ripple in the motor
speed.
Speed control,
position control,
or torque control
Additional
Adjustment Function
This function combines autotuning with custom
tuning. You can use it to improve adjustment
results.
Depends on the
functions that you
use.
Manual Tuning
You can manually adjust the servo gains to adjust
the response.
Speed control,
position control,
or torque control
