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4) Set Pr21 (Real time auto tuning mode set-up) to 1 or 2.
• The operation may not be stable depending the operation pattern. In this case, set the parameter
to 0 (to disable the auto tuning function).
• With a larger value, the response to the change in load inertia (acceleration) is quicker.
5) Start the motor.
6) If the fluctuation in load inertia is small, stop the motor (machine), and set Pr21 to 0 to fix the gain
(in order to raise the safety).
7) Download the obtained gain values to EEPROM. Note that if you turn off the power before down-
loading, the gain values will be lost.
<Notes>
•
Before changing Pr21 or Pr22, stop (servo-lock) the motor.
• Don't modify Pr10 through Pr15.
• Otherwise it may give a shock to the machine.
Pr21 value
0
1
2
3
Real time auto tuning set-up
Disabled
Enabled
Fluctuation of load inertia during operation
Almost no change
Small change
Quick change
<Notes>
Cause
Either one of Alarm, Servo-Off or Po-
sition Error Counter Clear activated.
The load inertia cannot be calculated
Symptom
Error message
displayed
Values of gain affecting
parameters
(e.g. Pr10)doesn't
change
Remedy
• Avoid operation near the limit switch or home
position sensor.
• Turn to Servo-ON.
• Cancel the Position Error Counter Clear.
Execute the manual adjustment.
How to Use "Real Time Auto-Gain" Tuning
1) Select the Parameter Set-up Mode.
2) Set Pr1F (Disturbance torque observer) to 8 (invalid).
3) Set Pr22 (Real time auto tuning machine stiffness).
First, set the parameter to the smallest value and then gradually increase it up to a
with which no abnormal sound or vi
bration will occur.
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
Preparetions and Adjustments
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