Online Autotuning Procedure - Omron SMARTSTEP R7D-AP Series User Manual

Operation

Online Autotuning Procedure

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Turn OFF the power.
Set the gain adjustment rotary switch.
(Refer to the next page for setting the gain adjustment rotary switch.)
Turn ON the online autotuning switch.
Turn ON the power.
Run the operation with a normal operating pattern and load.
Operating properly?
If an error occurs, reset the gain adjustment rotary switch and
perform the operation again.
Operating properly?
If no errors occur, turn OFF the online autotuning switch.
(See note 1 and note 2.)
Stop operation.
Note 1. When the online autotuning switch is turned OFF, the tuning results will be stored in param-
eter Pn103 (inertia ratio). Operation from this point will run according to the value stored in
Pn103.
Note 2. If the online autotuning switch is set to always ON, the Servomotor may become unstable
due to extreme vibration when the load fluctuates. It is recommended that you perform on-
line autotuning once, write the results (inertia ratio) to the user parameter, then operate with
the online autotuning turned OFF.
4-12
Start
Y
N
N
Y
End
Chapter 4
Do not perform extreme adjustment
and setting changes as they may
destablize the operation. Adjust the
gain a little at a time while checking
the Servomotor operation.