3-22
11. Release the key. The data display will return.
12. Press the DATA Key to return to the settings mode.
j
Selecting Mechanical Rigidity
Select the set value to match the rigidity of the mechanical system.
Response
Set
value
Position loop gain
(1/s)
Representative applications
Low
001
16
Articulated robots, harmonic drives, chain drives, belt drives,
k
d i i
d i
002
28
,
,
,
,
rack and pinion drives, etc.
Medium
003
40
XY tables, Cartesian-coordinate robots, general-purpose ma-
chinery, etc.
High
004
56
Ball screws (direct coupling), feeders, etc.
g
005
78
(
g),
,
006
108
007
130
j
Auto-tuning
•
Auto-tuning will not be complete until at least three operations have been completed. Be sure there is
plenty of room for the machine to operate.
•
If the auto-tuning is not complete after three operation, operations will be repeat as long as the key is
held down.
•
The motor speed for auto-tuning is approximately 250 r/min. The auto-tuning speed cannot be chan-
ged.
•
Auto-tuning will automatically change the setting of the user parameter position loop gain (Cn-1A),
speed loop gain (Cn-04), and speed loop integration time constant (Cn-05). These values will not be
changed, however, until the auto-tuning operation has been completed.
•
If auto-tuning does not complete or if the gain set via auto-tuning is not sufficient, adjust the gain manu-
ally using the procedure in
3-7-2 Manually Adjusting Gain.
0
250 r/min
Approx. 1.1 s
Approx. 0.7 s
Operation
Chapter 3
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