7-10
7-2 Realtime Autotuning
7
Adjustment Functions
Automatically Set Parameters
The following parameters are set automatically.
The following parameters are set automatically. (The settings will not change even if realtime
autotuning is executed.)
Parameter No. Parameter name
Pn10 Position Loop Gain
Pn11 Speed Loop Gain
Pn12 Speed Loop Integration Time Constant
Pn13 Speed Feedback Filter Time Constant
Pn14 Torque Command Filter Time Constant
Pn18 Position Loop Gain 2
Pn19 Speed Loop Gain 2
Pn1A Speed Loop Integration Time Constant 2
Pn1B Speed Feedback Filter Time Constant 2
Pn1C Torque Command Filter Time Constant 2
Pn20 Inertia Ratio
Pn22 Realtime Autotuning Machine Rigidity Selection
Parameter No. Parameter name Set value
Pn15 Feed-forward Amount 300
Pn16 Feed-forward Command Filter 50
Pn27 Instantaneous Speed Observer Setting 0
Pn30 Gain Switching Input Operating Mode Selection 1
Pn31 Control Gain Switch 1 Setting 10
Pn32 Gain Switch 1 Time 1 30
Pn33 Gain Switch 1 Level Setting 50
Pn34 Gain Switch 1 Hysteresis Setting 33
Pn35 Position Loop Gain Switching Time 20
Pn36 Control Gain Switch 2 Setting 0
• Some degree of noise or vibration may occur during fit gain operation, but
this is normally not a problem because the gain is lowered automatically.
If the noise or vibration continues, however, press any key on the front
panel to cancel the fit gain operation.
Precautions
for Correct Use
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