9.2 Advanced Autotuning9-9 Adjustments99.2 Advanced AutotuningThis section describes the adjustment using advanced autotuning.9.2.1 Advanced AutotuningAdvanced autotuning automatically operates the servo system (in reciprocating movement in the forward andreverse directions) within set limits and adjusts the SERVOPACK automatically according to the mechanicalcharacteristics while the servo system is operating.Advanced autotuning can be performed without connecting the host controller.The following automatic operation specifications apply.• Maximum speed: Rated motor speed × 2/3• Acceleration torque: Approximately 100% of rated motor torque forceThe acceleration torque varies with the influence of the moment of inertia ratio(Pn103), machine friction, and external disturbance.• Travel distance: The travel distance can be set freely. The distance is factory-set to a value equivalent to 3motor rotations.Advanced autotuning performs the following adjustments.• Moment of inertia ratio• Gains (e.g., position loop gain and speed loop gain)• Filters (torque reference filter and notch filter)• Anti-resonance controlRefer to 9.2.2 Related Parameters for parameters used for adjustments.• Advanced autotuning starts adjustments based on the set speed loop gain (Pn100).Therefore, precise adjustments cannot be made if there is vibration when startingadjustments. In this case, make adjustments after lowering the speed loop gain(Pn100) until vibration is eliminated.• If the operating conditions, such as the machine-load or drive system, are changedafter advanced autotuning, then change the following related parameters to disableany values that were adjusted before performing advanced autotuning once againwith the setting to calculate the moment of inertia (Jcalc = ON). If advanced autotun-ing is performed without changing the parameters, machine vibration may occur,resulting in damage to the machine.Pn160.0=0 (Does not use anti-resonance control.)Pn408=n.000 (Does not use friction compensation, 1st notch filter, or 2nd notch fil-ter.)CAUTION• Because advanced autotuning adjusts the SERVOPACK during automatic operation, vibration or over-shooting may occur. To ensure safety, perform advanced autotuning in a state where the SERVOPACKcan come to an emergency stop at any time.t: timet: timeRated motorspeed × 2/3Rated motorspeed × 2/3Rated motortorque Approx. 100%Rated motortorque Approx. 100% Automatic operationTraveldistanceΣ-V-SD MovementSpeedReferenceResponseExecute advanced autotuningafter using a JOG operation tomove the position to one where asuitable of movement range is ensured
