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Easy gain tuning
4.5 Easy gain tuning
4.5.1 Parameter
4.5.2 Easy gain tuning execution procedure
(2) Setting easy gain tuning enable in Pr. 819 "easy gain tuning selection"
(3) Start signal
Press or to estimate the load inertia ratio or calculate gain any time.
(The operation command for external operation is the STF or STR signal.)
The ratio of the load inertia to the motor inertia (load inertia moment ratio) is estimated in real time from the
torque command and speed during motor operation to automatically set the optimum gains for speed control/
position control from that ratio and response level setting.
Parameter Name
Factory
Setting
Setting Range Remarks
818
Easy gain tuning
response level setting
2 1 to 15
Set the response level.
1: Slow response to 15: Fast response
819
Easy gain tuning
selection
00, 1, 2
0: No tuning
1: With load estimation, with gain calculation
2: Manual load input (Pr. 880), with gain
calculation
Pr. 819 Setting Description
0
(factory setting)
• Easy gain tuning is invalid.
• None of the load inertia ratio, position control gain and speed control gain values are updated.
1
• Easy gain tuning is valid.
• Each control gain is automatically set from the load inertia ratio estimated during acceleration/
deceleration operation and the Pr. 818 "easy gain tuning response level setting" value.
• Pr. 880 "load inertia ratio" is used as the initial value of the load inertia ratio for tuning. Estimated
value is set in Pr. 880 during tuning.
2
• Used when the load inertia ratio cannot be estimated well due to load disturbance and such or when
the load inertia ratio is known in advance, for example. At this time, the load inertia ratio is not
estimated and each control gain is automatically set from the Pr. 880 "load inertia ratio" setting and
Pr. 818 "easy gain tuning response level setting" value.
REMARKS
When "1 or 2" is set in Pr. 819 "easy gain tuning selection" and then returned to "0", tuning results which are automatically set
in each parameter remain unchanged.
(
1) Setting the response level in
Pr. 818 "easy gain tuning
response level setting"
Refer to the diagram on the right and
set the response level.
Increasing the value will improve
trackability to the command, but too
high value will generate vibration. The
relationship between the setting and
response level are shown on the right.
Large conveyor
Arm robot
Precision
machine tool
General machine
tool, conveyor
Pr. 818 setting
Response level
Guideline of machine
resonance frequency
(Hz)
Slow
response
Fast
response
Middle
response
8 10 12 15 18 22 28 34 42 52 64 79 98 122 150
1 23456789101112131415
FWD REV