8-11
8-3 Switching to Manual Tuning
TUNING
- SV Series User’s Manual -
Estimation of Ratio of Inertia Moment
To achieve an optimal effect with manual tuning, a correct ratio of load inertia moment (ratio relative to load inertia
moment of a rotor inertia) needs to be set up.
Be sure to use the permissible ratio of load inertia moment of the servo motor below.
Estimation of ratio of inertia moment is used for calculating by moving the servo motor back and forth in a specified
movement distance.
For estimation of ratio of inertia moment, servo motor should run automatically as per the specification in the table below.
*
Up to 99990000 command pulses can be set up. However, even if 3145000 command pulses (servo motor shaft x3
revolutions) are selected, the movement distance is still servo motor shaft x3 revolutions when executing estimation
of ratio of inertia moment.
This is the case whereby electric gear is set to 1/1. If another value is used, depending on settings of electric gear,
the servo motor shaft speed will also change. Even if electric gear is set to a value other than 1/1, the max. movement
distance is still servo motor shaft x3 revolutions.
Estimation of ratio of inertia moment can be executed in position control mode and speed control mode It cannot be
executed in torque control mode (MECHATROLINK-II can also be executed in torque control mode). In addition,
estimation of ratio of inertia moment cannot be executed when servo ON.
Safety Consideration
To avoid any unexpected operation in estimation of ratio of inertia moment, the following should be considered:
• Do not touch any moving part when servo motor is rotating.
• Be sure to check the allowable range before you do this.
• An emergency stop measure should be in place..
• Among others, a limit switch should be used to limit mechanical movement.
• After executing estimation of ratio of inertia moment, always make power supply ON agian or restart servo amplifier.
Due to auto operation of the servo motor in estimation of ratio of inertia moment, the motor may stop at a position
other than that of higher-level positioning/motion unit command. As a result, the "Servo on cancel need turn off"
alarm (0B0) may occur when servo ON after executing the calculation.
• After executing estimation of ratio of inertia moment, always check stop position of the machine.
Due to auto operation of the servo motor in estimation of ratio of inertia moment, the motor may stop at a position
other than that of higher-level positioning/motion unit command. Be sure to execute origin return to match the
position of higher-level positioning/motion unit command with that of servo motor.
Parameter
type
Category Parameter name Setting range
Setting
unit
Enable
timing
TUN_08 Tuning *Ratio of load inertia moment 0 to 20000 % After changing
Item Specification
Max. speed Servo motor rated speed x2/3
Max. acceleration torque Servo motor rated torque
Movement distance
Servo motor shaft x0.5 to 3 revolutions (525 to 3145000 command pulse
*
)
(set as per 1000 command pulse units, default is servo motor shaft x3 revolutions)
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