◆ During auto tune, the motor slightly vibrates. If it vibrates severely, please immediately turn off the power.
Pay attention to the following.
(1) Check if the mechanism can be operated safely. Ensure emergency stop (Power OFF) can be activated
anytime while performing auto tune, as the motor will slightly vibrate. Besides, make sure mechanism
can be operated in both directions and implement protective measures.
◆ Auto tune cannot be performed on the following systems.
(1) The mechanism only operates towards one direction.
(2) The motor is controlled by external brake. The brake must be disabled.
◆ Auto tune cannot be correctly performed on the following systems.
(1) The range for motion is limited.
(2) The load is changed when auto tune is executed.
(3) The dynamic friction of machine is too large.
(4) The stiffness of machine is low and vibration occurs during positioning.
(5) Position integration function is enabled.
(6) Set or use velocity feedforward and torque feedforward.
(7) The load inertia ratio is over 100.
◆ Items to check before performing auto tune:
(1) The main circuit power must be ON.
(2) No overtravel occurs.
(3) Must be in servo OFF state.
(4) No alarm or warning occurs.
(5) Tuneless function must be disabled (Pt170.X = 0).
(6) While performing auto tune, the control mode must be position mode. After auto tune finishes, the
control mode can be changed to other mode, such as velocity mode.
(7) Gain switching selection must be set to manual gain switching (Pt139.X = 0).
To Next Page
Loading...
