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<Notes>
Symptom
Error message
displayed
Values of gain affect-
ing parameters
(e.g. Pr10)doesn't
change
How to Use "Real Time Auto-Gain" Tuning
① Select the Parameter Set-up Mode.
② Set Pr1F (Disturbance torque observer) to 8 (invalid).
③ Set Pr22 (Real time auto tuning machine stiffness).
First, set the parameter to the smallest value and then gradually increase it up to a
Driving method
bration will occur.
Ball screw + direct coupling
Ball screw + timing belt
Timing belt
Gear, or rack & pinion
Others: lower stiffness
④ Set Pr21 (Real time auto tuning mode set-up) to 1 or 2.
・ The operation may not be stable depending the operation pattern. In this case, set
the parameter to 0 (to disable the auto tuning function).
Pr21 value
0
1
2
3
・ With a larger value, the response to the change in load inertia (acceleration) is quicker.
⑤ Start the motor.
⑥If the fluctuation in load inertia is small, stop the motor (machine), and set Pr21 to
0 to fix the gain (in order to raise the safety).
⑦Download the obtained gain values to EEPROM. Note that if you turn off the power
before downloading, the gain values will be lost.
<Notes>
・Before changing Pr21 or Pr22, stop (servo-lock) the motor.
・Don't modify Pr10 through Pr15.
Otherwise it may give a shock to the machine.
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Cause
Either one of Alarm, Servo-Off or
Position Error Counter Clear ac-
tivated.
The load inertia cannot be cal-
culated
Mechanical stiffness
4 〜 8
3 〜 6
2 〜 5
1 〜 3
1 〜 3
Real time auto tuning set-up
Disabled
Enabled
・
Avoid operation near the limit switch
or home position sensor.
・
Turn to Servo-ON.
・
Cancel the Position Error Counter Clear.
Execute the manual adjustment.
with which no abnormal sound or vi
Fluctuation of load inertia during operation
Almost no change
Small change
Quick change
− 59 −
Remedy
。
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