— 5-5 —
5.2.3. Automatic Tuning
The automatic tuning estimates the load moment of inertia attached to the Motor, then
automatically sets the following servo parameters following the result.
Table 5-2: Servo parameters to be set automatically
Parameter Description
LO
Load inertia
SG
Servo gain
PG
Position gain
VG
Velocity gain
FP
Primary low-pass filter frequency
FS
Secondary low-pass filter frequency
！
Danger : • Take appropriate precautions for a full turn of the Motor.
• When the Motor cannot make a full turn because of construction of
the attachment or the load, keep the room so that the Motor can
make ±20°rotation. Be sure to set the over travel limit switch (OTP
and OTM) for the off-limits area.
1) Confirm that the LED on the front panel of Driver Unit indicates the System is in the
normal state (
[Normally]).
2) Input the command AT (Automatic tuning)
:
:
AT
AT Ready OK
?_
T
ENT
A
◊ If the message “COND MISMATCH?” appears on the screen, check if the input STP
(Stop), a warning or an alarm is on, then input the command AT again.
3) Input OK for the confirmation. The Motor servo automatically activates, and the Motor
rotates for 10 to 20° to estimate of load inertia starts.
:AT
AT Ready OK
?
OK
TO ABORT,PUSH [BS]
K
ENT
O
！
Caution : If the BS key is inputted in the middle of estimating load inertia, the
estimation will be interrupted, thus making unable to renew the servo
parameters.
4) The screen displays the estimated load inertia LO as shown below when the estimate
completes successfully. (The value of LO depends on the condition of load inertia.)
AT Ready OK
?OK
TO ABORT,PUSH [BS]
LO*****;
Estimated load ineratia
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