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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series
Revision January 2009 5-23
5.6.7 Relationship between Tuning Modes and Parameters
Tuning Mode P2-32
AutoSet
Parameter
User-defined Parameter Gain Value
Manual Mode
0(Default
setting)
None
P2-00 (Proportional Position Loop Gain)
P2-04 (Proportional Speed Loop Gain)
P2-06 (Speed Integral Compensation)
P2-25 (Low-pass Filter Time Constant of
Resonance Suppression)
Fixed
AutoMode (PI)
[Continuous]
2
P2-00
P2-04
P2-06
P2-31 Value B (Level of Responsiveness)
P2-25 (Low-pass Filter Time Constant of
Resonance Suppression)
Continuous
Adjusting
AutoMode (PI)
[Fixed Inertia] (The
inertia ratio is
determined by P1-
37)
3
P2-00
P2-04
P2-06
P1-37 (Ratio of Load Inertia to Servo Motor
Inertia [J_load / J_motor])
P2-31 Value B (Level of Responsiveness)
P2-25 (Low-pass Filter Time Constant of
Resonance Suppression)
Fixed
AutoMode (PDFF)
[Continuous]
4
P2-00
P2-04
P2-06
P2-25
P2-26
P2-31 Value B (Level of Responsiveness)
Continuous
Adjusting
AutoMode (PDFF)
[Fixed Inertia] (The
inertia ratio is
determined by P1-
37)
5
P2-00
P2-04
P2-06
P2-25
P2-26
P1-37 (Ratio of Load Inertia to Servo Motor
Inertia [J_load / J_motor])
P2-31 Value B (Level of Responsiveness)
Fixed
When switching mode #3 to #0, the setting value of P2-00, P2-04 and P2-06 will change to the value
that measured in #3 auto-tuning mode.
When switching mode #5 to #0, the setting value of P2-00, P2-04, P2-06, P2-25 and P2-26 will change
to the value that measured in #5 auto-tuning mode
5.6.8 Gain Adjustment in Manual Mode
The position and speed responsiveness selection is depending on and determined by the the control
stiffness of machinery and conditions of applications. Generally, high reponsiveness is essential for the
high frequency positioning control of mechanical facilities and the applications of high precision process
system. However, the higher responsiveness may easily result in the resonance of machinery system.
Therefore, for the applications of high responsiveness, the machinery system with control stiffness is
needed to avoid the resonance. Especially when adjusting the responsiveness of unfamiliar machinery
system, the users can gradually increase the gain setting value to improve responsiveness untill the
resonance occurs, and then decrease the gain setting value. The relevant parameters and gain
adjusting methods are described as follows: