3. Operation of CON Related Controllers
135
3.24 Offboard Tuning
Offboard tuning function is a feature established in purpose of calculating the optimum gain
considering the payload. By inputting the operational conditions, optimum controlling parameter
(each types of gain) settings and cycle time will be figured out.
The gain to be calculated is the following six types (from 1) to 6)).
There are four gain set prepared to save the six types of the gain to the controller parameters, and
it is available to write the calculated gain in the indicated gain set.
ParameterName
Parameter No.
Set No.0 Set No.1 Set No.2 Set No.3
1) Servo gain number 7 120 126 132
2)
Position Field Forward Gain 71 121 127 133
3)
Speed loop proportional gain 31 122 128 134
4)
Speed loop integral gain 32 123 129 135
5)
Torque filter constant 33 124 130 136
6)
Current Control Band Number 54 125 131 137
Restrictions
1. Actuators not Applicable for Offboard Tuning Function
Actuators not listed in the select menu for the model code in the offboard tuning setting
screen are not applicable for the offboard tuning function.
2. Caution for Gain Set No. 0
As the home-return operation is performed by using the gain in Gain Set No. 0, it is
necessary to establish setting in Gain Set No. 0 following the caution notes below.
(1) When the payload is lighter than the rating
1) In Gain Set No. 0, set either type of the gain below.
• Gain that is set at delivery
• Adjusted gain suitable to the rated payload
2) Adjusted gain is to be set in Gain Set No. 1 to 3, not in Gain Set No. 0. If an
adjusted gain is set in Gain Set No. 0, it may cause a problem at home-return
operation such as vibration.
(2) When the payload is heavier than the rating
Adjusted gain is to be set in Gain Set No. 0.
As the load is heavier than the rated payload in the gain set at the delivery,
home-return operation may not be able be conducted.
In no controller of offboard tuning function, it does not
appear in the off-board tuning icon.
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