CHAPTER 5 SERVO ADJUSTMENT
Trace Operation Mode 5-21
5
5.7 Trace Operation Mode
Use the trace operation mode to perform the process operation by following the commands, or to make
the servomotor having two or more axes including X-Y tables operate so as to follow the command
trace.
5.7.1 Conditions for Trace Operation Mode
Check the following conditions to perform adjustment.
Keep consistency in the mechanical configuration and specifications of each axis to the largest
extent (carrying weight, travel amount per motor rotation, etc.)
The backlash of the mechanical system is not large and the belt is free from deflection.
5.7.2 Parameters Used for Trace Operation Mode
The parameters used for gain adjustment are shown in the table below.
No. Name Approximate reference value
PA1_13 Tuning mode 14: Trace operation mode
PA1_14 Load inertia ratio Enter a stable assumed value (or average value).
PA1_15 Auto tuning gain 1
Enter while referring to "5.3.3 Approximate
Reference Value of Auto Tuning Gain 1."
PA1_51 Moving average S-curve time 0
The adjustment parameters other than those in the table above are automatically adjusted.
However, auto tuning gain 2 becomes disabled.
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