6.3 Advanced Autotuning (Fn201)6-156 Adjustments6.3 Advanced Autotuning (Fn201)This section describes the adjustment using advanced autotuning.6.3.1 Advanced AutotuningAdvanced autotuning automatically operates the SERVOPACK (in reciprocating movement in the forwardand reverse directions) within set limits and makes adjustment automatically according to the mechanicalcharacteristics while the SERVOPACK is operating.Advanced autotuning can be performed without connecting the host.The following automatic operation specifications apply.• Motor speed: Rated motor speed × 2/3• Acceleration force*: Approximately 100% of rated motor force• Movement distance: Set in unit of 1000 reference unit. Factory setting is 90 mm.∗ The acceleration force varies with the influence of the mass ratio (Pn103), machine friction, and external disturbance.Advanced autotuning performs the following adjustments.• Mass ratio• Gains (e.g., position loop gain and speed loop gain)• Filters (force reference filter and notch filter)• Friction compensation• Anti-resonance control• Vibration suppression (Mode = 2 or 3)Refer to 6.3.3 Related Parameters for parameters used for adjustments.A mode can be set to select whether to calculate the mass.Tuning level can be set to select an adjustment type.Setting ContentsJcalc = ON Calculates the mass.Jcalc = OFF Does not calculate the mass.Tuning Level Adjustment TypeMode 1 Makes adjustments for feedback control, not for model following control.[Standard]Mode 2 Makes adjustments for positioning.Mode 3 Makes adjustments for positioning, giving priority to overshooting suppression.SERVOPACKMovementSpeedReferenceResponseMovementdistancettRated motor speed × 2/3Rated motor speed × 2/3Rated motor force㧦Approx. 100%Rated motor force㧦Approx. 100%
