Basic Commissioning
Setting Value Description
2：Positioning This mode emphasizes positioning. No changeable load exists in
horizontal axis. It is suggested to use machine like ball screw to
make friction.
3：Vertical axis Except these mentioned in positioning mode, this mode
also compensates changeable load for vertical axis, which is
convenient to restrict offset caused by positioning stability time.
4：Friction
Compensation
Except these mentioned in vertical axis, this mode also drive
axis through belt that has large friction to shorten positioning
stability time.
The explanation of initial rigidity is as illustrated in the following:
Mechanism Type Rigidity Range
Large-scale handling/transmission equipment 0～13
Belt 5～16
Manipulator 10～20
Ball screw + Belt 13～25
Direct-coupled ball screw or mechanism with high rigidity 18～31
3. Estimate inertia.
a) press F1 to check the information.
b) Start adjustment.
During adjustment, you can press F2 to stop gain adjustment.
The estimation result shows in the interface and is written into related parameters
aromatically.
4. Do one of the following:
• If you are satisfied with the result, go to Step 8.
• If you are not satisfied, go the next step.
5. Set parameters of current interface.
6. Press F2 to check running result.
• If you are satisfied, go to next step.
• If you are not satisfied, return to Step 6.
7. Set rigidity.
The interface is as shown in the following:
20
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