5.3 Advanced Autotuning (Fn201)
5-21
3-4
STROKE (Travel Distance) Setting
Travel distance setting range:
The travel distance setting range is from -99990000 to +99990000 [reference unit]. Specify the STROKE
(travel distance) in increments of 1000 reference units. The negative (-) direction is for reverse rotation,
and the positive (+) direction is for forward rotation.
Initial value:
About 3 rotations
Notes:
• Set the number of motor rotations to at least 0.5; otherwise, "Error" will be displayed and the travel distance
cannot be set.
• To calculate the moment of inertia and ensure precise tuning, it is recommended to set the number of motor
rotations to around 3.
4
Press the Key. The advanced autotuning execu-
tion screen will be displayed.
5
Press the Key. The servomotor power will be
ON and the display will change from "BB" to
"RUN."
Note: If the mode is set to 1, Pn102 is displayed. If
the mode is set to 2 or 3, the Pn102 display will
change to the Pn141.
6
Display example:
After the moment of inertia is
calculated.
Calculates the moment of inertia.
Press the Key if a positive (+) value is set in
STROKE (travel distance), or press the Key if a
negative (-) value is set. Calculation of the moment of
inertia will start. While the moment of inertia is being
calculated, the set value for Pn103 will flash and
“ADJ” will flash instead of “RUN.” When calculat-
ing the moment of inertia is completed, the display
will stop flashing and the moment of inertia is dis-
played. The servomotor will remain ON, but the auto
run operation will be stopped temporarily.
Notes:
• The wrong key for the set travel direction is
pressed, the calculation will not start.
• If the moment of inertia is not calculated (Jcalc =
OFF), the set value for Pn103 will be displayed.
• If "NO-OP" or "Error" is displayed during opera-
tion, press the Key to cancel the function.
Refer to (2) Failure in Operation and take a cor-
rective action to enable operation.
7 –
After the servomotor is temporarily stopped, press the
Key to save the calculated moment of inertia
ratio in the SERVOPACK. “DONE” will flash for one
second, and “ADJ” will be displayed again.
Note: To end operation by calculating only the
moment of inertia ratio and without adjusting
the gain, press the Key to end operation.
(cont’d)
Step Display after Operation Keys Operation
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