Table of Contents
Advertisement
B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
2
3
t
y
p
e
2
5
t
y
p
e
2
3
t
y
p
e
2
5
t
y
p
e
5. Tuning and Trial Running
l Gain adjustment is necessary if the System is set to either the position control or the velocity
control mode.
l The System may require the adjustment of low pass filter when it is in the torque control mode.
5.1. Tuning Sequence
Figure 5-1: Tuning procedure
Preparation
Power on
5.2.2. Initialization of Servo Parameter
5.2.3. Execution of Automatic Tuning
5.2.4. Trial Running
Operation
saticefactory
5.2.5. Minor Servo Gain Adjustment
Operation
satisfactory
5.4. Setting Filters
Operation
saticefactory
5.3. Manual Tuning
Operation
NO
satice factory
End of trial running
l Install the Motor and wire the Driver Unit.
Caution : Make sure that the LED shows normal state.
！
l Initialize the servo parameters.
l Execution of automatic tuning
Automatic estimation of load inertia and automatic setting
of servo parameters will be done in this stage.
(Automatic setting of PG, VG, VIMA and MA parameters)
l Trial running
Confirm the results of tuning level 1.
The trial runnings in tuning level 2 and 3 will also use the
results of these settings.
YES
NO
YES
Tuning level 1
NO
Tuning level 2
Tuning level 3
YES
NO
YES
Turn on the power of the Driver Unit and confirm
that the screen of Handy Terminal displays a
message shown below.
NSK MEGATORQUE
MS1A50_***
E*********
:_
This is the basic function of automatic tuning.
If the operation of Motor is saticefactory the
tuning completes at this stage.
This step is an additional tuning to the level 1
when the trail running is not saticefactory.
It requires conventional manual tuning when the
tuning level 1 and 2 are not saticefactory.
— 5-1 —
5.1. Tuning Sequence
Advertisement
Table of Contents
Troubleshooting
