CHAPTER 5 SERVO ADJUSTMENT
5-6
Easy Tuning
5
Details of tuning
No tuning is performed in slow running.
However, the auto tuning gain is automatically decreased if resonance is observed in the machine.
In this case, the automatic notch filter function is activated.
Details of completion of action
The action completion method includes three patterns: normal completion, interruption by user,
and faulty termination. Each profile is described below.
Faulty termination
Normal completion Interruption by user
NG2 NG3
Stopped after the specified
stroke action. If mechanical
resonance is found, the notch
filter is automatically adjusted
and the auto tuning gain
automatically decreases.
The auto tuning gain
at the start of
operation is
restored.
The auto tuning
gain at the start of
operation is
restored.
The auto tuning gain
automatically changes
to the one that will
suppress resonance
(re-adjustment is
necessary).
Easy tuning
Starting condition
Conditions necessary to start easy tuning are indicated "" in the table below.
Easy tuning does not start if the following conditions are not satisfied ("NG1" is indicated).
Easy tuning is interrupted if any condition is unsatisfied during operation ("NG2" is indicated).
Power supply
to main circuit
No alarm
Neither ±OT nor
EMG
BX signal OFF Auto tuning
*1
Parameter write
enable
*2
*1) PA1_13 (tuning mode selection): other than 12 (manual tuning)
*2) PA2_74 (parameter write protection): 0 (write enable)
Easy tuning may not function correctly in mechanisms listed below.
Machines susceptible to vibration due to small rigidity
Machines with large backlash
Machines with large viscous friction
Machines with very small rotation speed (example: 100 r/min or less)
Machines with large load inertia of load
GYS/GYC motor (750 W or less) : 100 times or over
GYS/GYC motor (1.0 kW or more) : 30 times or over
GYG motor : 10 times or over
Machines with large and fluctuating load inertia
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