Autotuning - Omron SMARTSTEP 2 SERIES User Manual

7-2 Realtime Autotuning
Precautions
for Correct Use
7
7-7
An unusual noise or resonance may occur right after turning ON the first
RUN Command Input (RUN) after the power ON, or when the setting of the
Realtime Autotuning Machine Rigidity Selection (Pn22) is increased.
Usually, the noise or resonance may continue until the load inertia is
estimated, or the adaptive filter stabilizes. If the unusual noise or
resonance stops immediately, there is no problem. However, if the unusual
noise or resonance occurs for more than three reciprocating operations,
perform the following measures in any order you can.
(1) Save the parameter settings when the machine operated normally to
EEPROM.
(2) Decrease the setting of the Realtime Autotuning Machine Rigidity
Selection (Pn22).
(3) Set the Realtime Autotuning Mode Selection (Pn21) to 0 to disable the
adaptive filter. Then, enable realtime autotuning again. (Refer to
Disabling Realtime Autotuning on page 7-13 for information on inertia
estimation, resetting adaptive operations, and disabling realtime

autotuning.)

(4) Set Notch Filter 1 Frequency (Pn1D) and Notch Filter 1 Width (Pn1E)
manually. (For information on notch filters, refer to Machine Resonance
Control on page 7-21.)
After an unusual noise or resonance occurred, the setting of the Inertia
Ratio (Pn20) or Adaptive Filter Table Number Display (Pn2F) may have
been changed to an extreme value. Perform the above measures as well.
Among the realtime autotuning results, the Inertia Ratio (Pn20) and
Adaptive Filter Table Number Display (Pn2F) parameters are
automatically saved to EEPROM every 30 minutes. Realtime autotuning
will use this data as the default settings when the power is turned ON.