Parker Hannifin
- 64 - Aries Controller Hardware Installation Guide
Warning — When tuning a servo motor, remove all loads from the motor
to prevent personal injury or mechanical destruction. Once tuning provides
a stable and responsive servo motor, you can attach the load and start the
tuning process again.
Auto-Tuning
The Aries Controller can automatically determine the inertia of the load
attached to the motor. This is performed by applying a specified torque to the
motor and measuring the acceleration and deceleration of the motor. From
this, the drive/controller can calculate the load inertia and multiply the
position loop gains to allow for the change in inertia. The calculated inertia
can be observed using the LJRAT parameter.
Note: Excess friction can affect the measured inertia, thereby estimating the
value higher than the actual inertia. While the drive/controller can
compensate for some friction, it may not compensate for all. If the estimated
load inertia seems overly high, this may be the cause.
The Auto-Tune process should only last a few seconds, during which time
the motor will rotate about one-quarter of a turn in each direction. Use the
following method to start Auto-Tune mode:
1. In ACR-View, select the Servo Tuner window and select an axis.
2. Click on Auto Inertia Detection. The motor will move and the new gains
will be shown in the Position Loop Gains box.
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