3.2 Operating Procedures for Utility Functions
3.2.28 Advanced Autotuning without Reference (Fn201)
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3.2.28
Advanced Autotuning without Refer-
ence (Fn201)
You can use this utility function to perform automatic round-trip opera-
tion within a set range. During the operation, the SERVOPACK will be
tuned automatically according to machine characteristics.
You can perform advanced autotuning without connecting the host con-
troller.
Advanced autotuning adjusts the following items.
• Moment of inertia ratio
• Gains (e.g., position loop gain and speed loop gain)
• Filters (torque reference filter and notch filters)
• Friction compensation
• Anti-resonance control
• Vibration suppression (mode = 2 or 3)
Preparations
Always check the following before you perform advanced autotuning.
If the settings are not suitable, NO-OP will be displayed and advanced
autotuning will not be performed.
• The main circuit power supply must be ON.
• There must be no overtravel.
• The servo must be OFF.
• The control method must not be set to torque control.
• The gain selection switch must be set to manual (Pn139 = n.
0).
• Gain settings 1 must be selected.
• The test without a motor function must be disabled (Pn00C =
n.
0).
• There must be no alarms or warnings.
• There must be no hard wire base block (HWBB).
• The parameters must not be write-prohibited (Fn010 must be set to
0000).
• The tuning-less function must be disabled (Pn170 = n.
0), or the
tuning-less function must be enabled (Pn170 = n.
1: default set-
ting) and moment of inertia estimation must be set (Jcalc = ON).
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