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(3) Cautions
-
Under the following conditions, normal mode auto gain tuning may not function normally.
In such case, set up the data in manual gain tuning mode.
Load inertia
Load
-
When an error or Servo-OFF has occurred during auto gain tuning operation, it results in a
tuning error.
-
Even when the auto gain tuning has carried out, when it has failed in estimating the load
inertia value, the gain value is not changed and the previous data remains as it was.
-
Motor output torque during auto gain turning operation is permitted up to the maximum output torque
set by Servo parameter No.5E (1st torque limit).
-
Signals respectively for CW drive prohibition input, CCW drive prohibition input, instantaneous stop,
deceleration stop, and temporary stop are ignored. Be careful.
Be very careful of the safety. IF vibration occurs, turn OFF the power or the servo
promptly, and return the gain to the set value before shipment with the parameter.
(4) Auto gain tuning operation
[1] In the normal mode auto tuning, the response performance is set up by means of machine stiffness
number.
Machine stiffness numbers
- Machine stiffness numbers are for setting the degree of machine stiffness of the user
machine. Setting range is 0-15.
A machine, which has higher machine stiffness, allows setting a larger value to obtain a
higher gain.
- Ordinarily, auto gain tuning is begun with a lower stiffness number to a larger number in
order. And repeat the steps until a strange noise or vibration occurs.
[2] Operation pattern set by Servo parameter No.25 (normal auto tuning motion set up) is repeated
up to 5 cycles. Operation acceleration increases by 2 times per 1 cycle from the third cycle.
Depending on the load status, the operation may be terminated without performing 5 cycles, or
the operation acceleration may not change. It is not an error.
A4P
Conditions under which normal mode auto gain tuning is prevented from functioning.
- Load inertia is smaller/larger than the rotor inertia
(Less than 3 times, or 20 times or more)
- Load inertia fluctuates
- Extremely low machine stiffness
- Unsecured part such as backlash etc resides in
MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD
- 97 -
No. SR-DSV09485
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