CHAPTER 5 SERVO ADJUSTMENT

Details of tuning

No tuning is performed in slow running.

However, the auto tuning gain is automatically decreased if resonance is observed in the machine.

In this case, the automatic notch filter function is activated.

Details of completion of action

The action completion method includes three patterns: normal completion, interruption by user,

and faulty termination. Each profile is described below.

Normal completion

Interruption by user

Faulty termination

NG2

NG3

Stopped after the specified

The auto tuning gain The auto tuning The auto tuning gain

stroke action. If mechanical at the start of

gain at the start of automatically changes

5

resonance is found, the notch

filter is automatically adjusted

and the auto tuning gain

operation is

restored.

operation is

restored.

to the one that will

suppress resonance

(re-adjustment is

automatically decreases.

necessary).

 Easy tuning

Starting condition

Conditions necessary to start easy tuning are indicated "" in the table below.

Easy tuning does not start if the following conditions are not satisfied ("NG1" is indicated).

Easy tuning is interrupted if any condition is unsatisfied during operation ("NG2" is indicated).

Power supply

to main circuit

No alarm

Neither ±OT nor

EMG

BX signal OFF

Auto tuning*1

Parameter write

enable*2













*1) PA1_13 (tuning mode selection): other than 12 (manual tuning)

*2) PA2_74 (parameter write protection): 0 (write enable)

Easy tuning may not function correctly in mechanisms listed below.

 Machines susceptible to vibration due to small rigidity

 Machines with large backlash

 Machines with large viscous friction

 Machines with very small rotation speed (example: 100 r/min or less)

 Machines with large load inertia of load

GYS/GYC motor (750 W or less) : 100 times or over

GYS/GYC motor (1.0 kW or more) : 30 times or over

GYG motor

: 10 times or over

 Machines with large and fluctuating load inertia

5-6 Easy Tuning