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5-5-1 Automatic Adjusting<br />
This device provides ON-LINE Auto tuning, which can quickly and precisely measure Load Inertia<br />
and adjust the Gain automatically. Setting is according to the table below:<br />
Parameter Name Setting Description<br />
Cn002.2<br />
Auto tuning<br />
0 Auto tuning Disabled<br />
1 Enable Auto tuning<br />
When Cn002.2 is set to 0 (Auto tuning Disabled), following Gain adjust parameters must be set.<br />
Control<br />
Mode<br />
Pe/Pi/S<br />
Parameter<br />
Signal<br />
Name<br />
Cn002.2<br />
Auto tuning<br />
Sn211 Speed Loop Gain 1<br />
Sn212 Speed-loop Integral time constant 1<br />
Sn213 Speed loop Gain 2<br />
Sn214 Speed loop Integral time constant 2<br />
Pn310 Position Loop Gain 1<br />
Pn311 Position Loop Gain 2<br />
Pn312<br />
Position Loop Feed-Forward Gain<br />
When Cn002.2 is set to 1 auto tuning is enabled and the Servo controller will adjust the Servo Gain in<br />
accordance with Cn026 (Rigidity Setting) and the measured Load Inertia Ratio by monitor parameter Un-19<br />
(Load Inertia Ratio), when the Load Inertia Ratio is be<strong>com</strong>es stable,<br />
Then set 0 in Cn002.2 to cancel Auto tuning. At this moment, servo controller will record the measured Load<br />
Inertia Ratio into Cn025 (Load Inertia Ratio).<br />
If servo drive is used in a applications where there is no significant load variations, then monitor Un-19 (Load<br />
Inertia Ratio) if this is stable then it is re<strong>com</strong>mended that Auto tuning is not used.<br />
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