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Parameter Setup
Parameters for Auto-Gain Tuning
20
0 to 10000
<250>*
%Inertia ratio
You can set up the ratio of the load inertia against the rotor (of the motor) inertia.
When you execute the normal auto-gain tuning, the load inertial will be
automatically estimated after the preset action, and this result will be
reflected in this parameter.
The inertia ratio will be estimated at all time while the real-time auto-gain
tuning is valid, and its result will be saved to EEPROM every 30 min.
<Caution>
If the inertia ratio is correctly set, the setup unit of Pr11 and Pr19
becomes (Hz). When the inertia ratio of Pr20 is larger than the actual, the
setup unit of the velocity loop gain becomes larger, and when the inertia
ratio of Pr20 is smaller than the actual, the setup unit of the velocity loop
gain becomes smaller.
Pr20=(load inertia/rotor inertia) X 100 [%]
21 0 to 7
<1>
–Setup of real-time
auto-gain tuning
You can set up the action mode of the real-time auto-gain tuning.
With higher setup such as 3, the driver respond quickly to the change of
the inertia during operation, however it might cause an unstable operation.
Use 1for normal operation.
Setup value
0
<1>, 4, 7
2, 5
3, 6
Real-time
auto-gain tuning
Invalid
Normal mode
Varying degree of
load inertia in motion
–
Little change
Gradual change
Rapid change
Standard default : < >
PrNo.
Setup
range
UnitTitle Function/Content
22 0 to 15
A to C-frame:
<4>
D to F-frame:
<1>
–Selection of
machine stiffness
at real-time
auto-gain tuning
You can set up the machine stiffness in 16 steps while the real-time auto-
gain tuning is valid.
<Caution>
When you change the setup value rapidly, the gain changes rapidly as
well, and this may give impact to the machine. Increase the setup
gradually watching the movement of the machine.
low machine stiffness high
low servo gain high
low response high
Pr22 0, 1- - - - - - - - - - - - 14, 15
1E 0 to 4
<2>
–1st notch width
selection
You can set up the notch filter width of the 1st resonance suppressing filter in 5 steps.
Higher the setup, larger the notch width you can obtain.
Use with default setup in normal operation.
Standard default : < >
PrNo.
Setup
range
UnitTitle Function/Content