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set (refer to chapter 5.7 vibration suppression).
➢ Fast adjustment mode defaults to set a rigidity level. If the gain does not meet the mechanical
requirements, please gradually increase or decrease the settings.
➢ At present, gain switching function is not supported, that is, the second gain parameters such as P1-05,
P1-06, P1-07 are invalid.
5.4 Auto-tuning
5.4.1 Overview
Auto-tuning is divided into internal instruction auto-tuning and external instruction auto-tuning.
Auto-tuning (internal instruction) refers to the function of automatic operation (forward and reverse reciprocating
motion) of servo unit without instructions from the upper device and adjusting according to the mechanical
characteristics in operation.
Auto-tuning (external instruction) is the function of automatically optimizing the operation according to the
instructions from the upper device.
The automatic adjustments are as follows:
➢ Load moment of inertia
➢ Gain parameters (speed loop, position loop, model loop gain)
➢ Filter (notch filter, torque instruction filter)
5.4.2 Notes
Untunable occasions
➢ Mechanical systems can only operate in one direction.
Setting occasions that are prone to failure
➢ Excessive load moment of inertia;
➢ The moment of inertia varies greatly during operation.
➢ Low mechanical rigidity, vibration during operation and failure of detection positioning;
➢ The running distance is less than 0.5 circles.
Preparations before auto-tuning
➢ Use position mode;
➢ Driver in bb state;
➢ Driver without alarm;
➢ The matching of the number of pulses per rotation and the width of positioning completion should be
reasonable.
5.4.3 Operation tools
Internal instruction auto-tuning and external instruction auto-tuning can be executed by XinJeServo software.
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