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[Adjustment]
Adjustment
Parameters Which Are Automatically Set
PrNo.
10
11
12
13
14
18
19
1A
1B
1C
20
22
Title
1st gain of position loop
1st gain of velocity loop
1st time constant of velocity loop integration
1st filter of velocity detection
1st time constant of torque filter time
2nd gain of position loop
2nd gain of velocity loop
2nd time constant of velocity loop integration
2nd filter of velocity detection
2nd time constant of torque filter
Inertia ratio
Selection of machine stiffness at real time auto-gain tuning
PrNo.
15
16
27
30
31
32
33
34
35
36
300
50
0
1
10
30
50
33
20
0
Title
Setup value
Velocity feed forward
Time constant of feed forward filter
Setup of instantaneous speed observer
2nd gain setup
1st mode of control switching
1st delay time of control switching
1st level of control switching
1st Hysteresis of control switching
Switching time of position gain
2nd mode of control switching
Following parameters are automatically adjusted.
Also following parameters are automatically set up.
Caution
During the Fit-Gain movement, you may experience some noise and vibration, however, these do not give
any trouble since the gain is automatically lowered. If noise and vibration persist, interrupt the Fit-Gain by
pressing one of the switches of the front panel.
Result of Fit-Gain
[EXECUTION display] Writing of the result from the Fit-Gain screen
Press for approx.3sec to
save the present setup to EEPROM.
will be displayed when the Fit-Gain finishes normally, and will be displayed when it
finishes with some error. Write the result to EEPROM when you want to apply the result after the power
reset.