NSK MEGATORQUE M-ESB-YSB2020AB300 - Tuning and Trial Running; Tuning Sequence

— 5-1 —
B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
2
2
3
3
t
t
y
y
p
p
e
e
2
2
5
5
t
t
y
y
p
p
e
e
5.1. Tuning Sequence
5. Tuning and Trial Running
l Gain adjustment is necessary if the System is set to either the position control or the velocity
control mode.
l The System may require the adjustment of low pass filter when it is in the torque control mode.
5.1. Tuning Sequence
Figure 5-1: Tuning procedure
YES
NO
NO
YES
NO
YES
NO
YES
Operation
satice factory
Operation
satisfactory
l Install the Motor and wire the Driver Unit.
l Trial running
Confirm the results of tuning level 1.
The trial runnings in tuning level 2 and 3 will also use the
results of these settings.
l Execution of automatic tuning
Automatic estimation of load inertia and automatic setting
of servo parameters will be done in this stage.
(Automatic setting of PG, VG, VIMA and MA parameters)
l Initialize the servo parameters.
5.2.3. Execution of Automatic Tuning
End of trial running
5.2.4. Trial Running
Power on
Preparation
5.2.2. Initialization of Servo Parameter
！
Caution : Make sure that the LED shows normal state.
Turn on the power of the Driver Unit and confirm
that the screen of Handy Terminal displays a
message shown below.
NSK MEGATORQUE
MS1A50_***
E*********
:_
5.2.5. Minor Servo Gain Adjustment
5.3. Manual Tuning
Operation
saticefactory
Operation
saticefactory
5.4. Setting Filters
Tuning level 1 Tuning Level 3 Tuning Level 2
Tuning level 1
This is the basic function of automatic tuning.
If the operation of Motor is saticefactory the
tuning completes at this stage.
Tuning level 2
This step is an additional tuning to the level 1
when the trail running is not saticefactory.
Tuning level 3
It requires conventional manual tuning when the
tuning level 1 and 2 are not saticefactory.