— 5-5 —
B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
2
2
3
3
t
t
y
y
p
p
e
e
2
2
5
5
t
t
y
y
p
p
e
e
5.2. Automatic Tuning
5.2.3. Execute Automatic Tuning (Tuning Level 1)
5.2.3. Execution of Automatic Tuning (Tuning Level 1)
！
Danger: • Take the safety precaution for a full turn of the Motor.
• When the Motor cannot make a full turn because of setting way of the
load or the attachment, keep a room so that the Motor can rotate
approximately ± 20°. In such a case, make sure to set the over travel
limit switches (OTP and OTM) for the off-limits zone.
1)
Turn ON the Servo ON signal (SVON) of the connector CN2, and then input the SV
command to put the Motor in the servo-on state.
:SV
:_
V
ENT
S
2)
Confirm that the LED indicates that the System is in the normal state.
3)
Enter the command for execution of the automatic tuning.
If the message on the screen is not the same as shown below, follow the procedures in
1) and 2).
:AT
AT ready OK
?_
T
ENT
A
4)
Confirm the message, and then input “OK.”
The Motor rotates 10 to 20° after the input, and then an estimation of the inertia starts.
The screen displays a dot (•) every time the Motor rotates during the estimation of load
inertia.
:AT
AT ready OK
?OK
···
K
ENT
O
5)
The screen displays the estimated load inertia (LO) as shown below when the
estimation completes successfully.
(Number of dots (•) and the data of LO are depending on the condition of load inertia.)
?OK
·······
LO****
:_
Estimation of
load inertia
！
Caution: Take an action against an alarm referring to “10. Alarm” when an error
message shown below appears during the automatic tuning.
The LED on the front panel of Driver Unit indicates F8 for the automatic
tuning error.
Error number
?OK
·······
AT Error*
:_