— 5-7 —
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
5.2.4. Trial Running (Tuning Level 1)
7)
Input “OK” if the rotation angle of ID9000 (rotation of 90 degrees) is feasible.
IN10,IS0.5,FW1.0
ID9000/OK
?OK
:_
K
ENT
O
The Motor starts cyclic motions in CW and CCW directions as soon as “OK” is typed.
(The Motor moves in CW direction first.)
Execute the ID command instead of inputting “OK” to change the rotation angle when
the prompt is “?.”
Example: Change the rotation angel to 30°.
Type as
?ID3000
IN10,IS0.5,FW1.0
ID3000/OK
?_
D 3
<
I
0
?
0
?
ENT
0
?
8)
Input MS command to stop the Motor after the result of trial running is confirmed.
:MS
:_
S
ENT
M
9)
Display the demonstration program screen to quit the trial running.
IN10,IS0.5,FW1.0
ID3000/OK
?
:_
P
/
S
J
ENT
A
When quitting the demonstration without performing the cyclic motion, press the
ENT key following the prompt “?.”
l
If the Motor is operating normally complete the trial running.
l
When the Motor motion is unstable, tune the System referring to “5.2.5. Minor Servo
Adjustment (Tuning Level2)” or “5.3. Manual Tuning.”
l
Increase the MV setting to actual use velocity if the motion of the Motor is stable.
