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5.2. Automatic Tuning
5.2.1. Precaution
5.2. Automatic Tuning
！ Caution: The automatic tuning does not function if the following conditions are not
u Preparation
l You need to prepare the following for the automatic tuning.
5.2.1. Precautions
！ Danger: Be sure to wire an input of the Emergency stop (EMST) and an input of
！ Danger: The Motor will rotate for ± 20°in the process of the automatic tuning in
！ Caution: The Motor may vibrate at the end of automatic tuning if rigidity of the
！ Caution: The automatic tuning is effective when the System is set to the position
！ Caution: In case of a Motor equipped with brake, be sure to make possible to
met. Confirm them before performing the tuning.
à The load inertia must be in the allowable range of the Motor.
à The Motor is set horizontally. (The load conditions of the Motor must not be affected
by the gravity.)
à Mechanical rigidity of the Motor mounting base and an attached load to the Motor is
sufficient enough.
à There must be no backlash or play caused by gears and couplings.
à Frictional load to the Motor shall be minimal.
à Installation of the Motor.
à Fixing load to the rotor of the Motor.
à Installation of the Driver Unit.
à Connection of the Motor and the Driver Unit. Use the cable set provided with the
Driver Unit.
à Connection of the Handy Terminal.
à Connection of AC power source.
à Wiring of the signals of Servo ON (SVON) and Emergency stop (EMST).
(Connector CN2)
the Over Travel limit switch (OTP, OTM) if the off-limits zone is set so
that the Motor can stop immediately in case of emergency.
order to estimate the load inertia. Do not enter the range of Motor
rotations.
load is insufficient. In such a case turn the SVON signal OFF, or turn the
power off. Perform the manual tuning or increase its rigidity and then
execute the automatic tuning again.
control or the velocity control mode. In the torque control mode, you do
not need the automatic tuning.
release the brake by using the brake control signal and the external
brake power source.
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Troubleshooting
