2) Tuning is started when a value is written to object 3007Hex-05Hex. The time required for
auto-tuning is approx. 5 to 40 seconds.
To input the RUN command via the FW or R
V terminals, change the setting of
3004Hex-03Hex, and set only the data part in (1) above.
3) After (2) above is completed when the data part of 3007Hex-05Hex is 02Hex, acceleration
is performed up to 50% of the rated speed and rotation tuning is started. When rotation tun-
ing is completed, a deceleration stop is performed. The time required for this operation is
approx. 10 seconds excluding the acceleration/deceleration time.
4) When the RUN command via the FW and RV terminals is selected according to the
3004Hex-03Hex = 1 setting, completion of tuning can be checked by the Tuning Progress
(3017Hex-51Hex) (completion at 100%).
After tuning is completed, turn the RUN command via the FW and RV terminals OFF.
For details on how to execute auto-tuning by Sysmac Studio, refer to Sysmac Studio Version 1
Drive Functions Operation Manual (Cat. No. I589).
5 Corrective action in case of an error
As unwanted tuning might cause hunting or other malfunctions or worsen operational accuracy,
the inverter generates a tuning error (alarm code: 25 Hex) and discards tuning values when an
abnormality is found in the tuning result.
When tuning ends in a tuning error (alarm code: 25 Hex), check the following.
•
Is inverter output wiring open?
• Has the mechanical brake operated?
• Has the free-run command "FRS" turned ON?
• Are parameter settings correct?
For details on the tuning error (alarm code: 25 Hex), refer to Tuning Error on page 7-69.
Offline Auto-tuning of Synchronous Motor (PM Motor)
Offline auto-tuning consists of the following five steps:
• Presetting of parameters
•
Selection of tuning method
• Preparing the mechanical system
• Execution of auto-tuning
• Corrective action in case of an error
1 Presetting of parameters
1) Set “15: PM Vector control without speed and pole position sensor” or “16: PM Vector con-
trol with speed and pole position sensor” to 1st Drive Control Selection (3004Hex-2BHex).
2) Referring to 7-1-3 Motor Parameter Settings
on page 7-6, set parameters matched to the
control method.
2 Selection of tuning method
Check the machine status, and select either “2: Tune the motor parameters while rotating” or
“1: T
une the motor parameters while stopped” in 1st Auto Tuning Function Selection
(3007Hex-05Hex). When performing only offset adjustment of the magnetic pole position sen-
sor, select “4: Tune the PM motor magnetic pole position offset while rotating.” After tuning is
7 Vector Control and Applied Functions
7-67
M1 Series EtherCAT Type User’s Manual (I670)
7-8 Motor tuning
7
7-8-1 Motor Off-line Auto-tuning
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