Omron OMNUC G User Manual page 375

When using normal mode autotuning with a Servomotor with a brake,
Precautions
connect the brake interlock (BKIR) output signal to allow the brake to be
for Correct Use
released.
If the Positioning Completion Range 1 (Pn060) is too narrow, it will cause
an error. By default, the parameter is set to 25 for an incremental encoder.
When using an absolute encoder, set the parameter to 250 (ten times
larger).
If the Deviation Counter Overflow Level (Pn209) is too small, it will cause
a deviation counter overflow.
When using an absolute encoder, increase the setting from 20,000 pulses
(default) to 200,000 pulses.
Set the Torque Limit Selection (Pn003) to 1. If the setting is too small, it will
cause an error.
The maximum motor output during normal mode autotuning will be limited
by the No. 1 Torque Limit (Pn05E). If the value is too small, there may be
problems with the operation.
Actuating the network during normal mode autotuning will cause a
command error (alarm code 27). Do not actuate the network while
executing normal mode autotuning.
The position data is initialized after normal mode autotuning.
If the load inertia is less than 3 times the rotor inertia or greater than the
applicable load inertia (20 to 30 times greater), there may be problems with
the operation.
If the machine rigidity is extremely low, or if the backlash is extremely
large, estimation cannot be performed.
If an error occurs or a drive prohibition input is received during normal
mode autotuning, a tuning error will occur.
If normal mode autotuning is executed and the load inertia cannot be
estimated, the load inertia will remain the same as it was before normal
mode autotuning.
Executing normal mode autotuning may not cause an error but result in
vibration. Use caution to ensure safety, and promptly turn OFF the power
supply if anything unusual happens.
7-3 Normal Mode Autotuning
7
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