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Adjustments
How to Use "Normal Auto Gain Tuning
1) Select the Normal Auto Gain Tuning
Mode.
Press SET button once and press
MODE switching button three times.
See page 48.
2) Press UP orDOWN button to select the stiffness of the machine.
Motor speed display
(initial display)
Mechanical stiffness
value
Mechanical stiffness (higher)
Press UP button to increase the value.
Press DOWN button to decrease the value.
Mechanical stiffness (lower)
3) Press SET button to turn to the
monitor/execution mode.
4) Operation at the monitor/execution mode:
Keep pressing UP button until
appears.
• CN I/F pin 29: Servo-ON
• Pr10 (Notch Frequency) = 1500
Keep pressing UP button
(approx. three seconds).
The horizontal bar increases as shown in
the right figure.
The motor starts to run.
For approx. 15 seconds, the motor repeats
the cycle 5 times(at most), which consists of
two CCW revolutions
and two CW revolutions. Note that this pro-
cess doesn't necessarily repeat 5 cycles and
this is not abnormal.
5) Download the obtained gain values to
EEPROM. Note that if you turn off the
power before downloading, the
gain values will be lost.
Driving method
Ball screw + direct coupling
Ball screw + timing belt
Timing belt
Gear, or rack & pinion
Others: lower stiffness
Mechanical stiffness
4 ~ 8
3 ~ 6
2 ~ 5
1 ~ 3
1 ~ 3
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