Omron M1 Series User Manual page 335

As preparation for performing rotation tuning, remove machine couplings, and disable safety in-
terlocks.
4
Execution of auto-tuning
1) Set the tuning method to the data part of object 3007Hex-05Hex and the rotation direction
to bits 8 and 9.
The value of each bit is as follows.
b15
0
Select one of the following to the data part.
2) Tuning is started when a value is written to object 3007Hex-05Hex. The time required for
auto-tuning is approx. 5 to 40 seconds.
To input the RUN command via the FW or RV terminals, change the setting of
3004Hex-03Hex, and set only the data part in (1) above.
3) After (2) above is completed when the data part of 3007Hex-05Hex is 02Hex, acceleration
is performed up to 50% of the rated speed and rotation tuning is started. When rotation tun-
ing is completed, a deceleration stop is performed. The time required for this operation is
approx. 10 seconds excluding the acceleration/deceleration time.
4) When the RUN command via the FW and RV terminals is selected according to the
3004Hex-03Hex = 1 setting, completion of tuning can be checked by the Tuning Progress
(3017Hex-51Hex) (completion at 100%).
After tuning is completed, turn the RUN command via the FW and RV terminals OFF.
For details on how to execute auto-tuning by Sysmac Studio, refer to Sysmac Studio Version 1
Drive Functions Operation Manual (Cat. No. I589).
5
Corrective action in case of an error
As unwanted tuning might cause hunting or other malfunctions or worsen operational accuracy,
the inverter generates a tuning error (alarm code: 25 Hex) and discards tuning values when an
abnormality is found in the tuning result.
When tuning ends in a tuning error (alarm code: 25 Hex), check the following.
• Is inverter output wiring open?
• Has the mechanical brake operated?
• Has the free-run command "FRS" turned ON?
• Are parameter settings correct?
For details on the tuning error (alarm code: 25 Hex), refer to Tuning Error on page 7-69.
Tuning Error
The following table summarizes the causes of tuning errors.
M1 Series EtherCAT Type User's Manual (I670)
b14 b13 b12 b11 b10
0 0 0 0 0
Data part
01
02
05
7 Vector Control and Applied Functions
b9 b8 b7 b6 b5
RE FW
V D
Tune the motor parameters while stopped
Tune the motor parameters while rotating
Tune the motor %R1 and %X while stopped
b4 b3 b2 b1
Data part
Tuning method
b0
7
7-69