Kinco FD5 Series - 7.2 Auto-tuning test operation method; 7.2.1 Auto-tuning function related object paramete; 7.2.2 Introduction to the operation of digital tube; 7.2.3 Problems and adjustments with auto-tuning

Kinco FD5 AC series servo driver user manual Chatper 7 Performance regulation
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7.2Auto-tuning test operation method
When inertia auto-tuning is opened, motor shaft will reciprocate in a very short distance. So please keep some mechanical space
before using.
7.2.1 Auto-tuning function related object parameters
Table 7-1 Auto-tuning function parameters
Panel
address
Object
index
Name
Description
Default
Range
R: read
W: write
S: save
tn01
0x304008
Stiffness
Stiffness of the load
12
0-31
RWS
tn02
0x30400B
Inertia_Ratio
Inertia_Ratio=(J_Load+J_Motor)*10/J_M
otor
30
10-500
RWS
tn03
0x304001
Tunning-
method
Start auto-tuning after write 1 in.
RW
tn04
0x304006
Safe_Dist
Unit:0.01
Set the possible motion range during
inertia measurement
22
0-40
RWS
7.2.2Introduction to the operation of digital tube key and upper computer software self-tuning method
1. Auto-tuning panel key operation
Open the tunE menu in the LED panel and go to tn03.
Write 1 to tn03. The motor oscillates with a small amplitude, the oscillation lasts less than 1s.
If tn03 remains at 1 after auto-tuning is done, auto-tuning has been successful. Otherwise it has failed.
2.Auto-tuning PC software operation
Click upper computer menu item Controller->Operation Modes->Auto-tuning.
Figure 7-3 Auto-tuning window
First set the "write function permission control" object parameters of the address to 0x304105 to 1, and set the "setting mode"
object parameters of the address to 0x304001 to 1, then the motor shaft in a very small distance began to do reciprocating motion,
setting time does not exceed 1s, and get the setting result parameters.
The values in the parameters of the Inertia Test Result Flag on the last address 0x304009 reflect the final setting of the result
parameters.
Users can also increase the motion range of inertia measurement by increasing the value of the object parameter of "inertia
measurement operating range", so as to obtain more accurate setting result parameters. If the mechanical dither is large during the
self-tuning process, the setting value of this object parameter can be appropriately reduced.
7.2.3Problems and adjustments with auto-tuning
If the tuning process has failed, the error result of tn03 tells the fail-reason:
0: The controller could not be enabled by any reason.
-1: Inertia cannot be measured due to too little motion or too little current.
-2: The measured inertia result is outside the valid range.
-3: The resulting Inertia_Ratio value is greater than 250 (inertia ratio > 25). This is a possible result, but the control loop will
not be tuned.
-4: The resulting Inertia_Ratio value is larger than 500 (inertia ratio > 50). This is an uncertain result.
In the cases 0, -1, -2, -4 Inertia_Ratio is set to 30, in the case -3 Inertia_Ratio is set as measured, Stiffness is set to 7-10.
In any fail case the control loop parameters are set to Inertia_Ratio of 30 and the set Stiffness values. To make the measured
Inertia_Ratio of case -3 become effective, the value of tn02 must be confirmed by SET.