Auto Gain Tuning - Denso SMT7 Instruction Manual

Chapter 4 Configuring the Joint Parameters
4.7.1

Auto Gain Tuning

To implement auto gain tuning, the mechanism to be connected to the joint motor
should satisfy the requirements given in Section 4.7.1.1 below. Otherwise, some
errors may occur and the auto gain tuning process may be interrupted. If such
happens, implement manual gain tuning.
4.7.1.1 Requirements for implementing auto gain tuning
(1) The inertia of payload should be within 15 times that of the motor and should not
(2) The rigidity of the torque transmission mechanism (including motor and coupling)
(3) The backlash in the torque transmission mechanism should be minimized.
(4) Rotating the motor in CCW and CW directions alternately two times each
4.7.1.2 Auto gain tuning procedure
(1) Turn the motor power on and perform CAL.
(2) Get out of the motion range so that there will be no problem even if the motor
(3) On the teach pendant, call up the Joint Settings window.
(4) Press [F5 Auto Gain] to call up the Auto Gain Tuning window as shown below.
deviate greatly.
to be connected to each joint motor should be high.
direction should result in no problem.
NOTE: If the controller is in Auto mode or Teach check mode, switch to Manual
mode.
rotates in CCW and CW directions alternately two times each direction.
Access: Top Screen―[F2 Arm]―[F12 Maint.]―[F7 Joints]
Choose the joint number that should undergo auto gain tuning and the motor
rotation direction.
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