6. NORMAL GAIN ADJUSTMENT
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2) Driver command method
Input a permissible travel distance. Input it in the load-side resolution unit for the fully closed loop
control mode, and in the servo motor-side resolution unit for other control modes. In the driver
command method, the servo motor will be operated in a range between "current value ±
permissible travel distance". Input the permissible travel distance as large as possible within a
range that the movable part does not collide against the machine. Inputting a small permissible
travel distance decreases the possibility that the moving part will collide against the machine.
However, the estimation accuracy of the load to motor inertia ratio may be lower, resulting in
improper tuning.
Also, executing the one-touch tuning in the driver command method will generate a command for
the following optimum tuning inside the driver to start the tuning.
An optimum travel distance will be automatically set in the range not exceeding the user-inputted permissible
travel distance with setup software (MR Configurator2
TM
).
An acceleration time constant/deceleration time constant will be automatically set so as not to exceed 60% of
the rated torque and the torque limit value set at the start of one-touch tuning in the driver command method.
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