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ASDA-A3

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Tuning

5.4.5 Parameters related to auto tuning

Before the auto gain adjustment starts, first set the automatic gain adjustment level 1 (P2.105)

and automatic gain adjustment level 2 (P2.106), which are only available for Auto Tuning.

5.4.5.1 Automatic gain adjustment level 1 (P2.105) - stiffness adjustment

Gain (dB)

High

Medium

Low

Frequency

(Hz)

P2.105 > 11

P2.105 = 11

P2.105 < 11

P2.105 defines the servo stiffness after auto tuning. The higher the setting value, the greater the

bandwidth after auto tuning. On the other hand, the system margin becomes smaller, which

means resonance is more likely to occur when the system is degrading. You can first set P2.105

to the default value of 11 and then change the setting according to the following conditions.

1. It is advisable to increase P2.105 if the machine has all the following characteristics.

 The load inertia (weight) changes slightly during machine operation.

 Connected to transmission components with high stiffness (for example, they are

direct-coupled or connected with couplings).

 The machine requires high responsiveness.

2. It is advisable to decrease P2.105 if the machine has one of the following characteristics.

 The load inertia (weight) changes constantly during machine operation (such as

transport equipment and robotic arms).

 The machine has a transmission component with long strokes (such as a lead screw

with the length of 3 m or longer or a belt with the length of 1 m or longer).

P2.105 = 1

P2.105 = 11

Command position

Feedback position

Command position

Feedback position

5

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