6.4 Advanced Autotuning by Reference (Fn202)6-276 Adjustments6.4 Advanced Autotuning by Reference (Fn202)Adjustments with advanced autotuning by reference are described below.6.4.1 Advanced Autotuning by ReferenceAdvanced autotuning by reference is used to automatically achieve optimum tuning of the SERVOPACK inresponse to the user reference inputs (pulse train reference) 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 moment of inertia ratio is set correctly is Pn103, advanced autotuning by reference can be performedwithout performing advanced autotuning.Advanced autotuning by reference performs the following adjustments.• Gains (e.g., position loop gain and speed loop gain)• Filters (torque reference filter and notch filter)• Friction compensation• Anti-resonance control• Vibration suppressionRefer to 6.4.3 Related Parameters for parameters used for adjustments.• Advanced autotuning by reference starts adjustments based on the set speed loopgain (Pn100). Therefore, precise adjustments cannot be made if there is vibrationwhen starting adjustments. In this case, make adjustments after setting a fully stablegain using one-parameter tuning (Fn203).CAUTION• Because advanced autotuning by reference adjusts the SERVOPACK during automatic operation, vibra-tion or overshooting may occur. To ensure safety, perform advanced autotuning by reference in a statewhere the SERVOPACK can come to an emergency stop at any time.• Be sure to set a suitable value for the moment of inertia ratio (Pn103) using advanced autotuning beforeadvanced autotuning by reference is performed. If the setting greatly differs from the actual moment ofinertia ratio, normal control of the SERVOPACK may not be possible, and vibration may result.SERVOPACKMovementSpeedHost ControllerReferenceResponseMovement distanceReference
