— 8-1 —
8. Tuning and Trial Running
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Gain adjustment is necessary for the position control mode and the velocity control mode.
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In the torque control mode, the noise filter adjustment may be required.
8.1. Tuning Procedure
Figure 8-1 : Tuning Procedure
YES
NO
NO
YES
NO
YES
NO
YES
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Install the Motor and wire the Driver Unit.
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Trial running
◊
Confirm the parameter set values obtained from
automatic tuning. You may refer to the setting for
Level 2 and Level 3 adjustment.
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Execution of automatic tuning. (PG, VG, VI and MA)
◊
Automatic estimation of load inertia and automatic
servo-parameters setting will be executed in this stage.
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Initialize servo parameters.
8.2.3. Execution of Automatic Tuning
End (Trial Running)
8.2.4. Trial Running
Power “ON”
Preparation
8.2.2. Initialize Servo Parameters
Caution : • Make sure that the LED of the Driver
Unit is indicating
(normal).
• Turn control power “ON” and confirm
that the Handy Terminal display shows
the message as shown below.
NSK MEGATORQUE
MS1A50_***
E*********
:_
8.2.5. Servo Gain Minor Adjustment
8.3. Manual Tuning
8.4. Setting Filters
Tuning
Level 3
Tuning
Level 2
Tuning
Level 1
Tuning
Level 1
•
Basic function of Automatic tuning.
•
The adjustment is completed if trial
running is satisfactory.
Tuning
Level 2
•
Execute additional adjustment to the
Level 1 when trial running is not
satisfactory.
Tuning
Level 3
•
Execute final adjustment manually
when Level 1 and 2 are not successful.
Operating
OK
Operating
OK
Operating
OK
Operating
OK
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