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Chapter 7 Servo Parameters|ASDA-AB Series
7-62
Revision January 2009
P2 - 32▲
AUT2 Tuning Mode Selection Communication Addr.: 0220H
Default: 0 Related Section:
Applicable Control Mode: ALL Section 5.6, Section 6.3.6
Unit: N/A
Range: 0 ~ 5
Settings:
0: Manual mode
2: AutoMode (PI) [Continuous adjustment]
3: AutoMode (PI) [Fix the ratio of Load Inertia to servo motor inertia and response level can be
adjusted]
4: AutoMode (PDFF) [Continuous adjustment]
5: AutoMode (PDFF) [Fix the ratio of Load Inertia to servo motor inertia and response level can
be adjusted]
PI : Proportional - Integral control
PDFF : Pseudo-Derivative Feedback and Feedforward
Explanation of Auto-tuning:
1. When switching mode #2 or #4 to #3, the system will save the measured load inertia value
automatically and memorized in P1-37. Then, set the corresponding parameters according
to this measured load inertia value.
2. When switching mode #2 or #4 to #0, it indicates all automatically measured load inertia
value will be aborted, and all setting of parameters will be returned to original setting value in
#0 manual mode.
3. When switching mode #0 to #3 or #5, enter the appropriate load inertia value in P1-37.
4. 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.
5. 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