HarmonicDrive H A - 800A, Manual

Page: 218 / 314

9-2 Details of test mode
9-11
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9
Test
m
ode
T09: Auto-tuning
The load is estimated and auto-tuning is performed to set an optimal servo gain.
Since the actuator moves to estimate the load, perform auto-tuning after
thoroughly confirming safety.
By default, the motor shaft moves 6,000 degrees in the clockwise direction as
seen from the output shaft, then 6,000 degrees in the counter-clockwise
direction. The corresponding rotation angle of the actuator output shaft is
obtained by 1/reduction ratio. In certain situations such as when the
displacement of the system is limited, change the displacement by [T10:
Auto-tuning displacement].
Note that during operation for an operation command (pulse command, speed
command, torque command), if auto-tuning is executed, the auto-tuning has
priority.

Auto-tuning is not performed until a signal is input to the CN2-2 pin and the actuator
servo is turned ON. (A signal must be input to the CN2-2 pin.)

Perform auto-tuning after canceling FWD inhibit or REV inhibit. (Cancel FWD/REV
inhibit by inputting a signal to the CN2 or setting SP03/SP04.)

Note that the rotation directions depend on the [SP50: Command polarity] setting.

Do not execute the PSF-800 waveform monitoring during auto-tuning.

Note that after auto-tuning, the current value on the host device and the actual
machine position differ.
1
Input the servo-ON signal via CN2.
This turns ON the servo.
2
While [T09] is displayed, press the SET button.
[-A.c.] is shown.

The display will not switch if the button is pressed for 1
second or longer.
3
Press the SET button.
Displayed [-A.c.] flickers.
4
Press and hold the SET button for at least 0.1 second.
[-A.c.] changes to [run.], after which it moves in the
clockwise direction by the travel angle set in [T10:
Auto-tuning angle setting].After that, the actuator moves
in the counter-clockwise direction by the displacement set
in [T10: Auto-tuning travel angle setting].
If the main circuit power has not been turned ON or
actuator does not move (= a servo alarm is output), [-A.c.]
does not change to [run.].

To cancel the auto-tuning, press the UP or DOWN
button. The screen returns to the test mode number
display.
WARNING
UP MODE DOWN S E T
SET
SET
UP
MODE DOWN S E T
UP MODE DOWN S E T
UP MODE DOWN S E T