23
4.3.3 Flowchart and description of the tunE menu
The tunE panel menu includes parameters and functions for auto-tuning with inertia measurement and servo
control loop adjustment via just one parameter, namely stiffness.
After processing the EASY menu, the controller defaults the stiffness value and the inertia_ratio based on
reasonable estimated values according to, load type and application settings in EA06.
If the inertia ratio is known based on the machine’s mechanical system and the payload, the value can be
entered directly in tn02 (see table 4-4). The inertia ratio does not need to be 100% correct to achieve
reasonable servo performance by adjustment of stiffness alone. But the more accurate the inertia ratio, the
better the tuning algorithm can match the different servo control loops to each other. That’s why it is highly
advisable to obtain a precise inertia ratio result by means of inertia measurement.
The following flowchart and table explain the procedure for settings in the tunE menu in detail.
SET
▲
▼
▲
▼
▲
▼
▲
Stiffness
Write
“
1
”
to start
inertia ratio measuring
Measuring Distance,unit is 0.01 cycle
Inertia ratio, unit is 0.1
Write 1 to save all the parameters
Write 2 to save all the parameters and restart servo
MODE
MODE
Circle
SET
SET
Long Press MODE
▼
LED is blinking,
Press MODE can shift.
the parameters below
display in the same way.
Confirm the parameter ,the
first dot on the right will
lighten. the parameters below
display in the same way.
SET
SET
SET
SET
SET
SET
adjusted by “
▼▲
”level by level
and will be valid immediately
SET
Long Press MODE
Long Press MODE
Write automatically after inertia measuring.
Or written by user. adjusted by “
▼▲
”level by
level and will be valid immediately
Figure 4-8: Flowchart for the tunE menu
