Instruction manual
7.
ADJUSTMENT
7.2.3
What
is
auto
tuning?
The load inertia moment
is
estimated from the angular speed
(a)
and torque
(T)
in
accordance with the
equation
of
motion (7.1) used
for
motor
acceleratiorddeceleration.
In
actuality, the
acceleratioddeceleration
characteristics
of
the model and those
of
the actual motor are compared
to
estimate the inertia moment
of
the load in real time.
J
:
Inertia moment
w
:
Angular
speed
T
:
Torque
Real-time auto tuning
is
performed
in
the following procedure:
(1) When the motor makes
acceleratiorddeceleration,
load inertia moment
JL
is
estimated
in
the above
method to calculate the load inertia moment ratio (GD2).
(2) Each gain (PG1, VG1,
PG2,
VG2,
VIC)
to
the calculated load inertia moment ratio (GD2) is changed
according
to
the response level set
in
parameter
No.
2. Note that these gains have been patterned
beforehand
to
satis&
the aforementioned stabhation condtion.
7-
4