CHAPTER 5 SERVO ADJUSTMENT

5.7 Trace Operation Mode

Use the trace operation mode to perform the process operation by following the commands, or to make

the servomotor having two or more axes including X-Y tables operate so as to follow the command

trace.

5.7.1 Conditions for Trace Operation Mode

Check the following conditions to perform adjustment.

 Keep consistency in the mechanical configuration and specifications of each axis to the largest

extent (carrying weight, travel amount per motor rotation, etc.)

 The backlash of the mechanical system is not large and the belt is free from deflection.

5.7.2 Parameters Used for Trace Operation Mode

5

The parameters used for gain adjustment are shown in the table below.

No.

Name

PA1_13 Tuning mode

PA1_14 Load inertia ratio

PA1_15 Auto tuning gain 1

PA1_51 Moving average S-curve time

Approximate reference value

14: Trace operation mode

Enter a stable assumed value (or average value).

Enter while referring to "5.3.3 Approximate

Reference Value of Auto Tuning Gain 1."

0

The adjustment parameters other than those in the table above are automatically adjusted.

However, auto tuning gain 2 becomes disabled.

Trace Operation Mode 5-21