— 8-2 —
8.2. Automatic Tuning
Caution : Automatic tuning cannot be performed if the following conditions are not met.
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The load inertia must be under the limit of the Motor. (Refer to “4.1. Motor
Specification”)
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The Motor axis must be vertical. (The load conditions to the Motor must
not be affected by the gravity.)
◊
Mechanical rigidity of the Motor mounting base and attached load is
sufficient enough.
◊
There must be no backlash or play caused by gears and couplings.
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Frictional load to the Motor shall be minimal.
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Preparation
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Following preparation is required to execute the automatic tuning.
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Installation of the Motor.
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Attachment the load to the rotor of Motor.
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Installation of the Driver Unit.
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Wiring AC power line.
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Wiring the SVON (Servo on) and the EMST (Emergency stop). (CN2 connector)
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Connection of the Driver Unit and the Motor. (Use the optional cable set from NSK.)
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Connection of the Handy Terminal to the Driver Unit.
8.2.1. Precautions
Danger : • Wire “EMST” (Emergency Stop, CN2) signal to stop the Motor immediately
when an accident is foreseen.
• If the Motor rotation range is restricted, set overtravel limits (OTP, OTM).
Danger : The Motor rotates ±20° (degree) when executing automatic tuning. Always
stay in safe position.
Caution : If mechanical rigidity of the load (work) is not sufficient enough, the Motor may
vibrate. Turn “SVON” signal off or turn off the power when the Motor starts to
vibrate. Execute manual tuning in chapter 8.3 or increase the rigidity of the
load.
Caution : The automatic tuning is valid in the position control mode and the velocity
control mode. It is not necessary for the torque control mode.
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