6.4.2 Notes
Untunable occasions
➢ Mechanical systems can only operate in one direction.
Setting occasions that are prone to failure
➢ Excessive load moment of inertia;
➢ The moment of inertia varies greatly during operation.
➢ Low mechanical rigidity, vibration during operation and failure of detection positioning;
➢ The running distance is less than 0.5 circles.
Preparations before auto-tuning
➢ Use position mode;
➢ Driver in BB state;
➢ Driver without alarm;
➢ The matching of the number of pulses per rotation and the width of positioning completion
should be reasonable.
6.4.3 Operation tools
Internal instruction auto-tuning and external instruction auto-tuning can be executed by driver panel
and XinJeServo software.
Note: please check the driver firmware version through U2-07.
6.4.4 Internal instruction auto-tuning steps
Driver panel auto-tuning steps
1. The inertia identification is carried out, and the inertia estimation steps please refer to chapter
6.2.4 operation steps.
2. Enter F0-09, panel display is iat-；
3. Press ENTER, panel display is iat--, servo is in enabled status right now;
4. Press INC or DEC, panel display is tune and flashing, enter auto-tuning status;
5. Driver will automatically send pulse instructions, if the auto-tuning is successful, the panel
shows done and flashing.
6. Press STA/ESC to exit internal instruction auto-tuning.
Note: In the process of auto-tuning, press STA/ESC will exit the auto-tuning operation and use the
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