CHAPTER 5 SERVO ADJUSTMENT

5.3.3 Approximate Reference Value of Auto Tuning Gain 1

By increasing auto tuning gain, response will be improved while possibly causing vibration or other ill

effects. Change the value at intervals of about 2 points.

If resonance with the mechanical system or abnormal noises are not caused, auto tuning gain 1 can be

increased and the settling time can be decreased.

Machine configuration

(Division by mechanism)

Auto tuning gain 1

(Approximate reference value)

Large transfer machine

1 to 10

Arm robot

5 to 20

Belt mechanism

10 to 25

5

Ball screw + Belt mechanism

Mechanism directly coupled with

ball screw

15 to 30

20 to 40

<Supplement> The parameters adjusted automatically by auto tuning

The parameters automatically adjusted by auto tuning are shown in the table below. The

parameters to be adjusted automatically are different between PA1_15 (auto tuning gain 1) and

PA1_16 (auto tuning gain 2).

No.

Name

Auto tuning gain 1 and 2

PA1_15

PA1_16

PA1_14

PA1_51

PA1_54

PA1_55

Load inertia ratio

Moving average S-curve time

Position command response

time constant

Position loop gain 1

Always updated when PA1_13 is set to 10 (auto)

○

○

○

○

○

×

PA1_56 Speed loop gain 1

○

×

PA1_57

Speed loop integration time

constant 1

○

×

PA1_59

Torque filter time constant for

position and speed contorol

○

×

PA1_87

Model torque filter time

constant

○

×

PA1_88

Position loop integration time

constant

○

×

○: the parameters adjusted automatically by auto tuning gain

×: the parameters not adjusted automatically even adjusted by auto tuning gain

5-10 Auto Tuning