7-10
7-3 Normal Mode Autotuning
Adjustment Functions
7
The following graph shows the speed operating pattern when the set value is 0.
The operating pattern starts with 3 or 4 reciprocating operations, followed by up to 3 cycles of 2
reciprocations, with each cycle accelerated twice as much as the previous cycle.
The acceleration will stop changing, as it is limited by the No. 1 Torque Limit (Pn05E). This is not
an indication of failure.
2. Select the machine rigidity.
Set the machine rigidity number according to the rigidity of the machine. Refer to the following table
for the machine rigidity values.
Machine rigidity 0 cannot be selected for the Parameter Unit and CX-Drive.
Set the machine rigidity starting with a low value and check the operation.
To improve the response, increase the machine rigidity number, and then check the response
again. If vibration occurs, lower the machine rigidity number and make adjustments.
The setting parameters are the same as in Realtime Autotuning (RTAT) Parameter Tables on page
7-7.
3. Execute normal mode autotuning.
Move the load to a position where it will not interfere with the operation performed according to the
operation pattern. For reciprocating movement,
±
1 or
±
2 rotations will be made. For one-way
movement, about 20 rotations will be made.
Operating with the Parameter Unit
1. Switch to the Normal Mode Autotuning display.
Servo lock is performed automatically.
For details on switching to the Normal Mode Autotuning display, refer to Normal Mode Autotuning
on page 6-24.
Mechanical Configuration
/ Drive System
Machine Rigidity
Ball screw direct coupling
6 to C
Ball screw and timing belt
4 to A
Timing belt
2 to 8
Gears, rack and pinion drives
2 to 8
Machines with low rigidity, etc.
1 to 4
Stacker crane
Tune manually.
aktk_knkok1.
Machine rigidity No.
Nomal mode autotuning display