Kinco FD5 Series - Auto-Tuning Test Operation Method; Parameters for Auto-Tuning; Start of Auto-Tuning

Kinco FD5 系列伺服驱动器使用手册
第七章 性能调节
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7.2 Auto-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 Parameters for auto-tuning
Table 7-1 Auto-tuning function parameters
Panel
address
Object index
Name
Description
Default
Rang
e
R: read
W: write
S: save
tn01
0x304008
Stiffness
Stiffness of the load
12
0-31
RWS
tn02
0x30400B
Inertia_Ra
tio
Inertia_Ratio=(J_Load+J_Motor)*1
0/J_Motor
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
7.2.2 Start of auto-tuning
1. Via the LED panel
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. Via PC software
Click upper computer menu item Controller->Operation Modes->Auto-tuning.
Figure 7-3 auto-tuning window
Write 1 to TUN CTL (3041.05), and then write 1 to Tuning Method (3040.01). The motor oscillates
for less than 1s and the results appear. If Inertia_Get_Result(3040.09) = 1 the tuning process was
able to obtain a valid Inertia_Ratio(3040.0B). Otherwise the tuning process has failed, see 7.1.3 for
hints. Write 1 to the Tuning_Method(3041.01) again to check that the Inertia_Ratio result is
reproducible. If not, carefully increase Safe_Dist(3040.06) to get more precise results. If the
machine shakes too much, reduce_Safe_Dist to reduce oscilla 。