5 Adjustments5.4.1 Advanced Autotuning by Reference5-245.4 Advanced Autotuning by Reference (Fn202)Adjustments with advanced autotuning by reference are described below.5.4.1 Advanced Autotuning by ReferenceAdvanced autotuning by reference is used to automatically achieve optimum tuning of the SERVOPACK inresponse to the user reference inputs from the host.Advanced autotuning by reference is performed generally to fine-tune the SERVOPACK after advanced auto-tuning of the SERVOPACK has been performed.If the mass ratio is set correctly is Pn103, advanced autotuning by reference can be performed without per-forming advanced autotuning.Advanced autotuning by reference performs the following adjustments.• Gains (e.g., position loop gain and speed loop gain)• Filters (force reference filter and notch filter)• Friction compensation (Refer to (7) Friction Compensation.)• Anti-resonance control (Refer to (5) Anti-Resonance Control Adjustment Function.)• Vibration suppression (Refer to (6) Model Following Control with Vibration Suppression.)Refer to 5.4.3 Related Parameters for parameters used for adjustments.Tuning level can be set to select an adjustment type.When using a 13-bit encoder, select Mode 1.A filter type can be set to select a machine resonance reduction filter according to the mechanical element.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.Filter Type ContentsType = 1 Select a filter suitable for the belt drive mechanism or other mechanism.Type = 2 Selects a filter suitable for a ball screw drive mechanism or linear servomotor.Type = 3 Selects a filter suitable for a rigid system, such as a gear.SERVOPACKMovementSpeedHost ControllerReferenceResponseMovementdistance
