4-104
H Online Auto-tuning Related User Parameters
Param-
Param-
Explanation
Default
Unit Setting Restart
eter
No.
eter
name
Digit
No.
Name Setting Explanation
setting
range power
?
Pn100 Speed
loop
gain
Adjusts speed loop responsiveness. 80 Hz 1 to
2000
No
Pn101
Speed
loop in-
tegra-
tion time
constant
Speed loop integration time constant 2000 x
0.01 ms
15 to
51200
No
Pn102 Posi-
tion
loop
gain
Adjusts position loop responsiveness. 40 1/s 1 to
2000
No
Pn103 Inertia
ratio
Sets the ratio using the mechanical system inertia to Servomotor rotor
inertia ratio.
300 % 0 to
10000
No
Pn110 Online
auto-
tuning
0 Online
auto-tuning
selection
0 Turns ON the power supply, then
performs auto-tuning on the RUN
startup only.
0012 --- --- Yes
setting
1 Auto-tuning always ON.
2 Auto-tuning OFF.
1 Speed
feedback
0 ON
compensati
on function
selection
1 OFF
2 Viscous
0 Friction compensation: OFF
friction
compensati
1 Friction compensation: Rated torque
ratio (small)
n
un
n
selection
2 Friction compensation: Rated torque
ratio (large)
3 Not used. 0 Do not change the setting.
Pn401 Torque
com-
mand fil-
ter time
constant
Sets the filter time constant for the internal torque command. 40 x
0.01 ms
0 to
65535
No
Note Refer to 4-4-4 Parameter Details for details of each parameter.
4-7-2 Manual Tuning
H Rigidity Settings During Online Auto-tuning (Fn001)
• If you set the rigidity during online auto-tuning, the gains corresponding to machine rigidity are set
automatically. Even if you adjust the gain as an initial setting using manual tuning, you can perform
tuning comparatively quickly, so we recommend setting the rigidity (Fn001) first.
• Select the rigidity setting to suit the mechanical system from the following 10 levels.
Note Refer to 4-11-2 Online Auto-tuning Related Functions for System Check Mode operations.
Operation Chapter 4
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