3.
Too much friction or external force is applied to the axis to be tuned
4.
Too big backlash in the mechanical path between the motor and the load
5.
Inertia ratio is too large
6.
The mechanical path contains too soft components (very soft belts or couplings)
4.3.5 Tuning case
Rigid connection tuning case operating instructions
1、Enter EA01 through the panel keys, and confirm that the motor
model is correct.
2、
Enter EA06 to set the tuning command type to 1002
, which means that the axis operation
mode is point-to-point positioning control, the motor adopts rigid transmission structure to
connect the load, the positive and negative limits use the current settings, and the OUT2 is
normally open.
3、
Enter Tn04 to set the tunning distance
，The default value is 0022, which means 0.22
revolutions of the motor. If the load displacement distance allows, you can set TN04 to
0040, which means that the setting distance is extended to 0.4 revolutions of the motor.
4、
Set
Tn03 to 1
，Turn on auto-tuning. After the tuning is completed the tuning result will be
Displayed on the panel
5、Perform the next adjustment according to different tuning results. For details of manual adjustment,
please refer to Chapter 7.3
a.
The result is
1: indicates that the tuning is successful and the inertia ratio is valid. The
equipment can be run repeatedly by command, and the rigidity level Tn01 can be adjusted step
by step. When the response is slow during the operation, the rigidity level Tn01 can be
increased.
b.
The result is -1
:
Indicates that the inertia is too small and the tuning fails, and the inertia ratio
is invalid. You can increase the tuning distance Tn04 and then re-tune. Under this tuning result,
the rigidity level Tn01 can also be adjusted to check the running effect. If the adjusted rigidity
cannot meet the requirements, please use manual adjustment.
c.
The result is -2: Indicates that the inertia coefficient is out of range, causing the tuning to fail
and the inertia ratio to be invalid. You can modify the speed loop integral limit parameters to
re-tune. Under this tuning result, the rigidity level Tn01 can be adjusted to check the running
effect. If the adjusted rigidity cannot meet the requirements, please use manual adjustment.
d.
The result is -3: Indicates that the inertia ratio exceeds 25 times, and the inertia ratio result is
valid. After the tuning is completed, run the device, and when the motor vibrates or
whistles, please use manual adjustment. The rigidity level Tn01 can be adjusted when the
running equipment has no vibration/howling.
e.
The result is -4: Indicates that the inertia ratio exceeds 300 times, and the inertia ratio result
is invalid. After the tuning is completed, run the device, and when the motor
vibrates/whistles, please use manual adjustment. The rigidity level Tn01 can be adjusted
when the running equipment has no vibration/howling.
6、After the adjustment is completed, enter EA00 to set 1 to store the adjustment result.
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