190 2023-09-22 SM-A63469-A/2
Gain Adjustment Method
There are two methods for gain adjustment: auto tuning and manual tuning.
Auto Tuning Function
While oscillating with the load installed, and the P, I and D gain parameters are automatically
obtained through calculation of the load according to the acceleration and output torque at the
time.
Preparation Before Auto Tuning
Set G2 to “-1.”
After “-1” is set, auto tuning is ready.
Auto Tuning Parameters
Auto tuning of ABSODEX is related with various parameters for defining the operation
conditions and other features.
For details, refer to “5.PARAMETER SETTING.”
PRM83: Auto tuning command
PRM87: Auto tuning torque
PRM89: Auto tuning measurement termination speed
PRM120: Entering of inertia value
After initialization of the NC program and parameters (send “L17_12345”), the results of auto
tuning are lost, and gain adjustment becomes necessary.
To prepare for the failure for auto tuning after the equipment is assembled (due to interference
of jigs or stopper), record the value of PRM120.
Before writing PRM120, turn the servo off (M5).
If the combination of the actuator is changed after values are written in PRM120, the action
refers to preset gains, possibly causing vibration.
If this happens, execute auto tuning again.
After conducting auto tuning, change the G2 setting back to “-1” to continue operation.
By using the AX-Tools, the auto tuning function can be used more easily.
For details, refer to the “AX-Tools instruction manual.”
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